# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <tharp> at <Wed Nov  4 22:24:22 PST 2015>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2258 2015-10-06 04:57:28Z caress r
# 
# Mission Summary:
#     Route File:               2015_RockfishHabitat_1v5.rte
#     Mission File:             2015_RockfishHabitat_1v5.cfg
#     Distance:                 96408.208653 (m)
#     Estimated Time:           65254 (s)  18.126 (hr)
#     Abort Time:               66300 (s)
#     Max battery life:         68400 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               122
#     Route Points:             897
#     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:           20 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            6e-05 usec
#                                 Multibeam minimum range fraction: 0.3
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan enabled
#     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: 40 (m)
#     Abort Vehicle Altitude 1:   20 (m)
#     Delta Depth Restart 1:      20 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      1426.494207 (m)
#     Abort Vehicle Depth:        1446.494207 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   100 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         36.0 (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 -122.017460 36.817595 -91.937208 0.000000 3
#   1 -122.020037 36.815161 -92.179632 354.616087 3
#   2 -122.015556 36.807771 -411.253601 1266.717271 3
#   3 -122.006780 36.812938 -267.000633 2237.009610 3
#   4 -122.037476 36.801492 -375.422745 5255.449752 3
#   5 -122.038074 36.802904 -294.730469 5420.932168 3
#   6 -122.008012 36.813930 -230.467388 8368.479867 3
#   7 -122.009132 36.815011 -189.141499 8524.567322 3
#   8 -122.038970 36.804166 -227.096882 11445.580980 3
#   9 -122.039642 36.805428 -151.281715 11597.882045 3
#   10 -122.011410 36.815702 -146.341171 14362.226860 3
#   11 -122.012381 36.816904 -114.518637 14521.235887 3
#   12 -122.040315 36.806780 -110.902958 17254.466306 3
#   13 -122.037252 36.809333 -98.129215 17648.014119 3
#   14 -122.032248 36.801552 -447.603012 18619.833733 3
#   15 -122.036842 36.801823 -377.189064 19030.787562 3
#   16 -122.042779 36.798939 -348.805550 19649.596893 1
#   17 -122.046588 36.795694 -398.144287 20144.660974 1
#   18 -122.047260 36.792991 -402.801430 20450.465329 1
#   19 -122.046700 36.789205 -415.700462 20873.442950 1
#   20 -122.046551 36.786712 -391.981094 21150.333697 1
#   21 -122.048157 36.784880 -396.329788 21399.018072 1
#   22 -122.051256 36.783197 -431.005432 21732.686624 1
#   23 -122.053721 36.779051 -395.222412 22242.534099 1
#   24 -122.055327 36.777489 -395.869522 22467.410485 3
#   25 -122.055551 36.779742 -341.941460 22718.153752 3
#   26 -122.052526 36.784339 -324.726387 23295.176208 1
#   27 -122.049613 36.786051 -305.066353 23617.107903 1
#   28 -122.048119 36.787163 -334.822899 23798.742160 1
#   29 -122.048493 36.789115 -307.863823 24017.851700 1
#   30 -122.048941 36.793261 -332.050133 24479.539327 1
#   31 -122.048119 36.796445 -313.705757 24840.303444 1
#   32 -122.044086 36.800050 -293.692627 25378.279724 1
#   33 -122.037476 36.803115 -296.226036 26058.998258 3
#   34 -122.038410 36.804527 -204.470108 26236.427514 3
#   35 -122.045207 36.801222 -210.204010 26945.042951 1
#   36 -122.049389 36.797046 -233.732113 27539.887681 1
#   37 -122.050584 36.793561 -244.043839 27940.943045 1
#   38 -122.050360 36.789236 -257.171429 28421.171005 1
#   39 -122.049800 36.787703 -279.108864 28598.429464 1
#   40 -122.053497 36.785360 -269.304497 29018.419595 1
#   41 -122.055626 36.782386 -295.943291 29399.140436 3
#   42 -122.055551 36.784970 -253.081924 29685.884697 3
#   43 -122.051704 36.788154 -231.774326 30178.438575 1
#   44 -122.052414 36.793531 -152.532864 30778.312763 1
#   45 -122.050920 36.797887 -134.908211 31279.610849 1
#   46 -122.046327 36.802213 -130.550732 31910.672672 1
#   47 -122.039082 36.805608 -146.561192 32658.746571 3
#   48 -122.039754 36.807050 -111.122385 32829.585207 3
#   49 -122.047447 36.803295 -108.434256 33632.418112 1
#   50 -122.052302 36.798669 -110.575235 34303.976307 1
#   51 -122.054094 36.793622 -134.491207 34886.266740 1
#   52 -122.053758 36.789025 -205.375511 35397.134166 1
#   53 -122.054991 36.786772 -221.944923 35670.222883 3
#   54 -122.056074 36.777610 -404.280327 36691.229161 1
#   55 -122.071123 36.758834 -968.220779 39169.719207 1
#   56 -122.089944 36.751263 -1205.964874 41048.078800 1
#   57 -122.100027 36.742431 -1361.826233 42378.619056 3
#   58 -122.133823 36.731736 -1335.558075 45621.079097 3
#   59 -122.138305 36.740208 -1258.440735 46642.588044 3
#   60 -122.102455 36.752195 -1328.711639 50108.456946 3
#   61 -122.105741 36.758563 -1136.104126 50873.384894 3
#   62 -122.141666 36.746607 -1203.528595 54343.875408 3
#   63 -122.143832 36.751804 -1260.325684 54951.975873 3
#   64 -122.106525 36.764241 -1006.143295 58556.648929 3
#   65 -122.090841 36.752435 -1222.377563 60473.791494 3
#   66 -122.072542 36.759855 -995.900681 62302.968947 1
#   67 -122.057343 36.778661 -405.170914 64791.519070 3
#   68 -122.059472 36.781996 -402.089706 65207.430227 1
#   69 -122.063020 36.784459 -416.588669 65625.643298 1
#   70 -122.067837 36.791489 -401.059380 66516.143260 1
#   71 -122.070638 36.795274 -449.394936 67004.791227 1
#   72 -122.072580 36.798488 -415.536644 67401.217554 1
#   73 -122.078069 36.801282 -401.203156 67980.778265 1
#   74 -122.081393 36.803745 -399.534721 68384.014869 1
#   75 -122.083521 36.801673 -384.436867 68682.140651 3
#   76 -122.084306 36.803295 -293.426254 68875.230870 3
#   77 -122.081617 36.805638 -322.819763 69228.938981 1
#   78 -122.077024 36.802754 -305.292030 69748.803124 1
#   79 -122.071198 36.799780 -320.629112 70364.441077 1
#   80 -122.068546 36.796055 -373.464752 70840.630656 1
#   81 -122.066156 36.792570 -311.105423 71282.160797 1
#   82 -122.061227 36.785721 -305.484085 72160.089338 1
#   83 -122.058128 36.783528 -313.092468 72528.412515 1
#   84 -122.055177 36.779502 -346.998077 73046.905959 3
#   85 -122.054953 36.782026 -305.795334 73327.628265 3
#   86 -122.057007 36.784429 -258.797249 73651.145715 1
#   87 -122.059659 36.786712 -240.153835 73997.770616 1
#   88 -122.064401 36.793351 -226.471539 74847.179678 1
#   89 -122.066829 36.796896 -287.323570 75296.174999 1
#   90 -122.069667 36.800922 -212.303627 75809.592161 1
#   91 -122.075791 36.803926 -170.785267 76449.554843 1
#   92 -122.082102 36.807771 -226.599033 77155.898595 1
#   93 -122.085127 36.804617 -225.809925 77597.773098 3
#   94 -122.085463 36.806149 -197.883041 77770.354164 3
#   95 -122.082177 36.809513 -137.782558 78244.910928 1
#   96 -122.074783 36.805278 -130.136513 79054.730842 1
#   97 -122.068098 36.802003 -148.311455 79753.068832 1
#   98 -122.065036 36.797617 -180.477192 80311.088714 1
#   99 -122.062571 36.794012 -182.732651 80767.506485 1
#   100 -122.058128 36.787583 -215.135353 81583.504668 1
#   101 -122.054841 36.784639 -263.109306 82022.480046 3
#   102 -122.054318 36.786682 -232.472752 82253.883246 3
#   103 -122.056783 36.788575 -204.511467 82557.993076 1
#   104 -122.060928 36.794703 -158.530758 83331.916475 1
#   105 -122.063356 36.798158 -150.959305 83772.191191 1
#   106 -122.066717 36.803295 -123.281477 84416.156012 1
#   107 -122.073439 36.806539 -114.930700 85115.530819 1
#   108 -122.082625 36.811316 -114.902121 86091.409626 1
#   109 -122.086135 36.807591 -139.023407 86609.879067 3
#   110 -122.086882 36.809333 -123.968513 86814.300412 3
#   111 -122.083223 36.813269 -111.911861 87359.461069 1
#   112 -122.072094 36.807891 -101.652431 88517.699512 1
#   113 -122.065484 36.804737 -107.962296 89203.368802 1
#   114 -122.061115 36.798879 -127.706966 89961.175728 1
#   115 -122.059024 36.795424 -145.699001 90387.460389 1
#   116 -122.055513 36.789866 -185.969231 91079.075700 3
#   117 -122.055850 36.793652 -140.383514 91500.165933 1
#   118 -122.053721 36.799510 -103.699667 92177.238444 1
#   119 -122.048680 36.804466 -102.169792 92887.557116 1
#   120 -122.040987 36.808312 -99.465866 93695.665146 1
#   121 -122.013091 36.818045 -102.019798 96408.208653 4
# 
# A total of 897 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 66300;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 1426.494207;
abortDepth = 1446.494207;
minAltitude = 40.000000;
abortAltitude = 20.000000;
deltaDepthRestart = 20.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# 
# Acoustic update 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 121
#   Segment length 83.667353 meters
#   Minimum depth: 99.242013 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.019798 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.242013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818045;
longitude = -122.013091;
duration = 167;
# abortOnTimeout    = True; 
initialDepth = 45.005511;
finalDepth = 49.242013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.777785
#   Actual altitude:          52.777785
#   Commanded vehicle depth:  49.242013 
#   Seafloor depth:           -102.019798
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.464158 meters
#   Minimum depth: 95.005511 meters looking forward 100.000000 meters along route
#   Maximum depth: 99.190416 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.005511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817745;
longitude = -122.013951;
duration = 200;
initialDepth = 41.989720;
finalDepth = 45.005511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.184905
#   Actual altitude:          54.184905
#   Commanded vehicle depth:  45.005511 
#   Seafloor depth:           -99.190416
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.464532 meters
#   Minimum depth: 91.989720 meters looking forward 100.000000 meters along route
#   Maximum depth: 94.620230 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.989720 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817384;
longitude = -122.014985;
duration = 200;
initialDepth = 41.815051;
finalDepth = 41.989720;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.184905
#   Actual altitude:          54.184905
#   Commanded vehicle depth:  41.98972 
#   Seafloor depth:           -94.620230
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.464908 meters
#   Minimum depth: 91.815051 meters looking forward 100.000000 meters along route
#   Maximum depth: 92.166703 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.815051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817024;
longitude = -122.016018;
duration = 200;
initialDepth = 41.871424;
finalDepth = 41.815051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.63051
#   Actual altitude:          52.63051
#   Commanded vehicle depth:  41.815051 
#   Seafloor depth:           -91.876409
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.465284 meters
#   Minimum depth: 91.871424 meters looking forward 100.000000 meters along route
#   Maximum depth: 92.933869 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.871424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816663;
longitude = -122.017051;
duration = 200;
initialDepth = 43.161893;
finalDepth = 41.871424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.061358
#   Actual altitude:          50.061358
#   Commanded vehicle depth:  41.871424 
#   Seafloor depth:           -91.882403
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.465660 meters
#   Minimum depth: 93.161893 meters looking forward 100.000000 meters along route
#   Maximum depth: 94.396766 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 43.161893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816303;
longitude = -122.018084;
duration = 200;
initialDepth = 41.837518;
finalDepth = 43.161893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.010979
#   Actual altitude:          50.010979
#   Commanded vehicle depth:  43.161893 
#   Seafloor depth:           -93.161893
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.466035 meters
#   Minimum depth: 91.837518 meters looking forward 100.000000 meters along route
#   Maximum depth: 93.842385 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.837518 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815942;
longitude = -122.019118;
duration = 200;
initialDepth = 41.645159;
finalDepth = 41.837518;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.004867
#   Actual altitude:          52.004867
#   Commanded vehicle depth:  41.837518 
#   Seafloor depth:           -93.842385
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.466410 meters
#   Minimum depth: 91.645159 meters looking forward 100.000000 meters along route
#   Maximum depth: 92.056800 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.645159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815582;
longitude = -122.020151;
duration = 200;
initialDepth = 41.873888;
finalDepth = 41.645159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.004867
#   Actual altitude:          52.004867
#   Commanded vehicle depth:  41.645159 
#   Seafloor depth:           -91.996500
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.466787 meters
#   Minimum depth: 91.873888 meters looking forward 100.000000 meters along route
#   Maximum depth: 92.436825 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.873888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815221;
longitude = -122.021184;
duration = 200;
initialDepth = 41.824859;
finalDepth = 41.873888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.351341
#   Actual altitude:          50.351341
#   Commanded vehicle depth:  41.873888 
#   Seafloor depth:           -91.985434
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.467162 meters
#   Minimum depth: 91.824859 meters looking forward 100.000000 meters along route
#   Maximum depth: 92.608486 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.824859 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814861;
longitude = -122.022217;
duration = 200;
initialDepth = 41.906806;
finalDepth = 41.824859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.601559
#   Actual altitude:          50.601559
#   Commanded vehicle depth:  41.824859 
#   Seafloor depth:           -92.426418
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.467537 meters
#   Minimum depth: 91.906806 meters looking forward 100.000000 meters along route
#   Maximum depth: 92.938564 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.906806 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814500;
longitude = -122.023251;
duration = 200;
initialDepth = 42.165327;
finalDepth = 41.906806;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.759466
#   Actual altitude:          50.759466
#   Commanded vehicle depth:  41.906806 
#   Seafloor depth:           -92.666272
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.467914 meters
#   Minimum depth: 92.165327 meters looking forward 100.000000 meters along route
#   Maximum depth: 94.256889 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.165327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814140;
longitude = -122.024284;
duration = 200;
initialDepth = 44.338310;
finalDepth = 42.165327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.759466
#   Actual altitude:          50.759466
#   Commanded vehicle depth:  42.165327 
#   Seafloor depth:           -92.165327
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.468289 meters
#   Minimum depth: 94.338310 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.326750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.338310 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813779;
longitude = -122.025317;
duration = 200;
initialDepth = 45.123849;
finalDepth = 44.338310;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  44.33831 
#   Seafloor depth:           -94.338310
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.468665 meters
#   Minimum depth: 95.123849 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.588542 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.123849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813419;
longitude = -122.026350;
duration = 200;
initialDepth = 46.864963;
finalDepth = 45.123849;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  45.123849 
#   Seafloor depth:           -95.123849
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.469040 meters
#   Minimum depth: 96.864963 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.960163 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.864963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813058;
longitude = -122.027383;
duration = 200;
initialDepth = 47.071149;
finalDepth = 46.864963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.722038
#   Actual altitude:          50.722038
#   Commanded vehicle depth:  46.864963 
#   Seafloor depth:           -97.587001
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.469417 meters
#   Minimum depth: 97.071149 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.939674 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.071149 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812698;
longitude = -122.028417;
duration = 200;
initialDepth = 46.821545;
finalDepth = 47.071149;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.868525
#   Actual altitude:          50.868525
#   Commanded vehicle depth:  47.071149 
#   Seafloor depth:           -97.939674
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.469792 meters
#   Minimum depth: 96.821545 meters looking forward 100.000000 meters along route
#   Maximum depth: 98.245793 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.821545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812337;
longitude = -122.029450;
duration = 200;
initialDepth = 48.549323;
finalDepth = 46.821545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.868525
#   Actual altitude:          50.868525
#   Commanded vehicle depth:  46.821545 
#   Seafloor depth:           -96.853901
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.470168 meters
#   Minimum depth: 98.549323 meters looking forward 100.000000 meters along route
#   Maximum depth: 99.585870 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.549323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811977;
longitude = -122.030483;
duration = 200;
initialDepth = 49.216682;
finalDepth = 48.549323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.032356
#   Actual altitude:          50.032356
#   Commanded vehicle depth:  48.549323 
#   Seafloor depth:           -98.549323
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.01;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.470544 meters
#   Minimum depth: 99.216682 meters looking forward 100.000000 meters along route
#   Maximum depth: 99.985983 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.216682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811616;
longitude = -122.031516;
duration = 200;
initialDepth = 46.867092;
finalDepth = 49.216682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.117351
#   Actual altitude:          50.117351
#   Commanded vehicle depth:  49.216682 
#   Seafloor depth:           -99.334033
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.470920 meters
#   Minimum depth: 96.867092 meters looking forward 100.000000 meters along route
#   Maximum depth: 99.219637 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.867092 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811256;
longitude = -122.032550;
duration = 200;
initialDepth = 45.612186;
finalDepth = 46.867092;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.352545
#   Actual altitude:          52.352545
#   Commanded vehicle depth:  46.867092 
#   Seafloor depth:           -99.219637
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.471295 meters
#   Minimum depth: 95.612186 meters looking forward 100.000000 meters along route
#   Maximum depth: 96.686425 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.612186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810895;
longitude = -122.033583;
duration = 200;
initialDepth = 46.296376;
finalDepth = 45.612186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.352545
#   Actual altitude:          52.352545
#   Commanded vehicle depth:  45.612186 
#   Seafloor depth:           -96.686425
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.471672 meters
#   Minimum depth: 96.296376 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.391872 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.296376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810535;
longitude = -122.034616;
duration = 200;
initialDepth = 47.274074;
finalDepth = 46.296376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.074239
#   Actual altitude:          51.074239
#   Commanded vehicle depth:  46.296376 
#   Seafloor depth:           -96.296376
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.472047 meters
#   Minimum depth: 97.274074 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.662454 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.274074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810174;
longitude = -122.035649;
duration = 200;
initialDepth = 46.608756;
finalDepth = 47.274074;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.119811
#   Actual altitude:          50.119811
#   Commanded vehicle depth:  47.274074 
#   Seafloor depth:           -97.393885
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.472423 meters
#   Minimum depth: 96.608756 meters looking forward 100.000000 meters along route
#   Maximum depth: 98.042467 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.608756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809814;
longitude = -122.036682;
duration = 200;
initialDepth = 46.748987;
finalDepth = 46.608756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.719537
#   Actual altitude:          50.719537
#   Commanded vehicle depth:  46.608756 
#   Seafloor depth:           -97.328293
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 103.826568 meters
#   Minimum depth: 96.748987 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.987168 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.748987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809453;
longitude = -122.037716;
duration = 207;
initialDepth = 47.957402;
finalDepth = 46.748987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.719537
#   Actual altitude:          50.719537
#   Commanded vehicle depth:  46.748987 
#   Seafloor depth:           -96.748987
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 108.941732 meters
#   Minimum depth: 97.957402 meters looking forward 100.000000 meters along route
#   Maximum depth: 100.467858 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.957402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809081;
longitude = -122.038783;
duration = 217;
initialDepth = 47.798908;
finalDepth = 47.957402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  47.957402 
#   Seafloor depth:           -97.957402
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 105.337195 meters
#   Minimum depth: 97.798908 meters looking forward 100.000000 meters along route
#   Maximum depth: 100.499200 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.798908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808690;
longitude = -122.039904;
duration = 210;
initialDepth = 49.465866;
finalDepth = 47.798908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.700292
#   Actual altitude:          52.700292
#   Commanded vehicle depth:  47.798908 
#   Seafloor depth:           -100.499200
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 120
#   Segment length 180.416343 meters
#   Minimum depth: 99.465866 meters looking forward 100.000000 meters along route
#   Maximum depth: 100.765060 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.465866 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808312;
longitude = -122.040987;
duration = 360;
# abortOnTimeout    = True; 
initialDepth = 48.489596;
finalDepth = 49.465866;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.700292
#   Actual altitude:          52.700292
#   Commanded vehicle depth:  49.465866 
#   Seafloor depth:           -99.465866
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 109.986000 meters
#   Minimum depth: 98.489596 meters looking forward 100.000000 meters along route
#   Maximum depth: 100.242852 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.489596 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807453;
longitude = -122.042705;
duration = 219;
initialDepth = 49.578994;
finalDepth = 48.489596;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.753256
#   Actual altitude:          51.753256
#   Commanded vehicle depth:  48.489596 
#   Seafloor depth:           -100.242852
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 101.842390 meters
#   Minimum depth: 99.578994 meters looking forward 100.000000 meters along route
#   Maximum depth: 101.826385 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.578994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806930;
longitude = -122.043752;
duration = 203;
initialDepth = 52.006054;
finalDepth = 49.578994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.753256
#   Actual altitude:          51.753256
#   Commanded vehicle depth:  49.578994 
#   Seafloor depth:           -99.578994
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 106.459675 meters
#   Minimum depth: 102.006054 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.447514 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.006054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806445;
longitude = -122.044721;
duration = 212;
initialDepth = 53.238003;
finalDepth = 52.006054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  52.006054 
#   Seafloor depth:           -102.006054
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 105.370629 meters
#   Minimum depth: 103.238003 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.683283 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.238003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805939;
longitude = -122.045735;
duration = 210;
initialDepth = 52.169916;
finalDepth = 53.238003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.087304
#   Actual altitude:          50.087304
#   Commanded vehicle depth:  53.238003 
#   Seafloor depth:           -103.325307
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.03;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 102.933286 meters
#   Minimum depth: 102.169916 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.840493 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.169916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805437;
longitude = -122.046738;
duration = 205;
initialDepth = 52.009191;
finalDepth = 52.169916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.529001
#   Actual altitude:          51.529001
#   Commanded vehicle depth:  52.169916 
#   Seafloor depth:           -103.698917
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 101.099707 meters
#   Minimum depth: 102.009191 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.624241 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.009191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804947;
longitude = -122.047718;
duration = 202;
initialDepth = 52.009191;
finalDepth = 52.009191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.529001
#   Actual altitude:          51.529001
#   Commanded vehicle depth:  52.009191 
#   Seafloor depth:           -102.543998
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 119
#   Segment length 86.042252 meters
#   Minimum depth: 102.009191 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.937857 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.009191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804466;
longitude = -122.048680;
duration = 172;
# abortOnTimeout    = True; 
initialDepth = 52.441730;
finalDepth = 52.009191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.534807
#   Actual altitude:          50.534807
#   Commanded vehicle depth:  52.009191 
#   Seafloor depth:           -102.169792
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.16;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 103.335512 meters
#   Minimum depth: 102.441730 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.859587 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.441730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803866;
longitude = -122.049291;
duration = 206;
initialDepth = 50.991911;
finalDepth = 52.441730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.353224
#   Actual altitude:          50.353224
#   Commanded vehicle depth:  52.44173 
#   Seafloor depth:           -102.794954
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 105.232939 meters
#   Minimum depth: 100.991911 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.975382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.991911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803145;
longitude = -122.050024;
duration = 210;
initialDepth = 50.392353;
finalDepth = 50.991911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.918401
#   Actual altitude:          51.918401
#   Commanded vehicle depth:  50.991911 
#   Seafloor depth:           -102.910312
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 101.439188 meters
#   Minimum depth: 100.392353 meters looking forward 100.000000 meters along route
#   Maximum depth: 101.040092 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.392353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802410;
longitude = -122.050771;
duration = 202;
initialDepth = 50.840731;
finalDepth = 50.392353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.918401
#   Actual altitude:          51.918401
#   Commanded vehicle depth:  50.392353 
#   Seafloor depth:           -100.902171
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 103.781275 meters
#   Minimum depth: 100.840731 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.816848 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.840731 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801703;
longitude = -122.051491;
duration = 207;
initialDepth = 52.820621;
finalDepth = 50.840731;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.509818
#   Actual altitude:          50.509818
#   Commanded vehicle depth:  50.840731 
#   Seafloor depth:           -100.840731
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 102.892319 meters
#   Minimum depth: 102.820621 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.475779 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.820621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800979;
longitude = -122.052227;
duration = 205;
initialDepth = 53.436423;
finalDepth = 52.820621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  52.820621 
#   Seafloor depth:           -102.820621
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 107.595187 meters
#   Minimum depth: 103.436423 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.782058 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.436423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800261;
longitude = -122.052957;
duration = 215;
initialDepth = 53.699667;
finalDepth = 53.436423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  53.436423 
#   Seafloor depth:           -103.436423
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 118
#   Segment length 152.815406 meters
#   Minimum depth: 103.699667 meters looking forward 100.000000 meters along route
#   Maximum depth: 106.299685 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.699667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799510;
longitude = -122.053721;
duration = 305;
# abortOnTimeout    = True; 
initialDepth = 56.632580;
finalDepth = 53.699667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  53.699667 
#   Seafloor depth:           -103.699667
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 104.166083 meters
#   Minimum depth: 106.632580 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.225466 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.632580 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798188;
longitude = -122.054202;
duration = 208;
initialDepth = 60.663951;
finalDepth = 56.632580;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  56.63258 
#   Seafloor depth:           -106.632580
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 104.166159 meters
#   Minimum depth: 110.663951 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.998595 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.663951 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797287;
longitude = -122.054529;
duration = 208;
initialDepth = 66.822362;
finalDepth = 60.663951;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  60.663951 
#   Seafloor depth:           -110.663951
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 104.166234 meters
#   Minimum depth: 116.822362 meters looking forward 100.000000 meters along route
#   Maximum depth: 124.630639 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.822362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796385;
longitude = -122.054857;
duration = 208;
initialDepth = 75.377191;
finalDepth = 66.822362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  66.822362 
#   Seafloor depth:           -116.822362
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 104.166309 meters
#   Minimum depth: 125.377191 meters looking forward 100.000000 meters along route
#   Maximum depth: 131.611765 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 75.377191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795484;
longitude = -122.055184;
duration = 208;
initialDepth = 82.587964;
finalDepth = 75.377191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  75.377191 
#   Seafloor depth:           -125.377191
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 107.592320 meters
#   Minimum depth: 132.587964 meters looking forward 100.000000 meters along route
#   Maximum depth: 140.038221 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 82.587964 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794583;
longitude = -122.055512;
duration = 215;
initialDepth = 90.383514;
finalDepth = 82.587964;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  82.587964 
#   Seafloor depth:           -132.587964
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 117
#   Segment length 116.989712 meters
#   Minimum depth: 140.383514 meters looking forward 100.000000 meters along route
#   Maximum depth: 147.843303 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.383514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793652;
longitude = -122.055850;
duration = 233;
# abortOnTimeout    = True; 
initialDepth = 98.806136;
finalDepth = 90.383514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  90.383514 
#   Seafloor depth:           -140.383514
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 100.238717 meters
#   Minimum depth: 148.806136 meters looking forward 100.000000 meters along route
#   Maximum depth: 156.535744 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 98.806136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792600;
longitude = -122.055756;
duration = 200;
initialDepth = 107.823826;
finalDepth = 98.806136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  98.806136 
#   Seafloor depth:           -148.806136
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 100.238709 meters
#   Minimum depth: 157.823826 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.443449 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 107.823826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791699;
longitude = -122.055676;
duration = 200;
initialDepth = 119.544932;
finalDepth = 107.823826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  107.823826 
#   Seafloor depth:           -157.823826
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 103.623095 meters
#   Minimum depth: 169.544932 meters looking forward 100.000000 meters along route
#   Maximum depth: 185.118314 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 119.544932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790798;
longitude = -122.055596;
duration = 207;
initialDepth = 126.481690;
finalDepth = 119.544932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  119.544932 
#   Seafloor depth:           -169.544932
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 116
#   Segment length 82.289764 meters
#   Minimum depth: 176.481690 meters looking forward 100.000000 meters along route
#   Maximum depth: 185.969231 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 126.481690 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789866;
longitude = -122.055513;
duration = 164;
# abortOnTimeout    = True; 
initialDepth = 122.395578;
finalDepth = 126.481690;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.487541
#   Actual altitude:          59.487541
#   Commanded vehicle depth:  126.48169 
#   Seafloor depth:           -185.969231
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.85;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 100.932600 meters
#   Minimum depth: 172.395578 meters looking forward 100.000000 meters along route
#   Maximum depth: 176.422262 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 122.395578 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790527;
longitude = -122.055931;
duration = 201;
initialDepth = 115.891690;
finalDepth = 122.395578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.487541
#   Actual altitude:          59.487541
#   Commanded vehicle depth:  122.395578 
#   Seafloor depth:           -176.422262
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.85;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 100.932383 meters
#   Minimum depth: 165.891690 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.491791 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 115.891690 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791338;
longitude = -122.056443;
duration = 201;
initialDepth = 110.500785;
finalDepth = 115.891690;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.600101
#   Actual altitude:          55.600101
#   Commanded vehicle depth:  115.89169 
#   Seafloor depth:           -171.491791
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.68;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 100.932166 meters
#   Minimum depth: 160.500785 meters looking forward 100.000000 meters along route
#   Maximum depth: 165.543865 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 110.500785 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792150;
longitude = -122.056956;
duration = 201;
initialDepth = 104.439497;
finalDepth = 110.500785;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.600101
#   Actual altitude:          55.600101
#   Commanded vehicle depth:  110.500785 
#   Seafloor depth:           -165.543865
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.68;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 100.931949 meters
#   Minimum depth: 154.439497 meters looking forward 100.000000 meters along route
#   Maximum depth: 159.679785 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 104.439497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792961;
longitude = -122.057468;
duration = 201;
initialDepth = 100.211279;
finalDepth = 104.439497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.240288
#   Actual altitude:          55.240288
#   Commanded vehicle depth:  104.439497 
#   Seafloor depth:           -159.679785
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.57;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 102.571037 meters
#   Minimum depth: 150.211279 meters looking forward 100.000000 meters along route
#   Maximum depth: 154.301299 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 100.211279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793772;
longitude = -122.057980;
duration = 205;
initialDepth = 96.071402;
finalDepth = 100.211279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.240288
#   Actual altitude:          55.240288
#   Commanded vehicle depth:  100.211279 
#   Seafloor depth:           -154.301299
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.57;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 103.025412 meters
#   Minimum depth: 146.071402 meters looking forward 100.000000 meters along route
#   Maximum depth: 150.150451 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 96.071402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794596;
longitude = -122.058501;
duration = 206;
initialDepth = 92.445763;
finalDepth = 96.071402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.09002
#   Actual altitude:          54.09002
#   Commanded vehicle depth:  96.071402 
#   Seafloor depth:           -150.150451
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 115
#   Segment length 118.615319 meters
#   Minimum depth: 142.445763 meters looking forward 100.000000 meters along route
#   Maximum depth: 145.699001 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 92.445763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795424;
longitude = -122.059024;
duration = 237;
# abortOnTimeout    = True; 
initialDepth = 86.576969;
finalDepth = 92.445763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.079049
#   Actual altitude:          54.079049
#   Commanded vehicle depth:  92.445763 
#   Seafloor depth:           -145.699001
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.22;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 115
#   Segment length 100.077275 meters
#   Minimum depth: 136.576969 meters looking forward 100.000000 meters along route
#   Maximum depth: 141.982168 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.576969 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796385;
longitude = -122.059606;
duration = 200;
initialDepth = 82.440914;
finalDepth = 86.576969;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.405199
#   Actual altitude:          55.405199
#   Commanded vehicle depth:  86.576969 
#   Seafloor depth:           -141.982168
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 115
#   Segment length 100.077075 meters
#   Minimum depth: 132.440914 meters looking forward 100.000000 meters along route
#   Maximum depth: 136.366620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 82.440914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797196;
longitude = -122.060097;
duration = 200;
initialDepth = 77.898843;
finalDepth = 82.440914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.405199
#   Actual altitude:          55.405199
#   Commanded vehicle depth:  82.440914 
#   Seafloor depth:           -136.366620
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 115
#   Segment length 107.514992 meters
#   Minimum depth: 127.898843 meters looking forward 100.000000 meters along route
#   Maximum depth: 132.713767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.898843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798008;
longitude = -122.060588;
duration = 215;
initialDepth = 72.057122;
finalDepth = 77.898843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.632506
#   Actual altitude:          54.632506
#   Commanded vehicle depth:  77.898843 
#   Seafloor depth:           -132.531349
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.39;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 114
#   Segment length 132.106801 meters
#   Minimum depth: 122.057122 meters looking forward 100.000000 meters along route
#   Maximum depth: 127.706966 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.057122 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798879;
longitude = -122.061115;
duration = 264;
# abortOnTimeout    = True; 
initialDepth = 70.768844;
finalDepth = 72.057122;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.649844
#   Actual altitude:          55.649844
#   Commanded vehicle depth:  72.057122 
#   Seafloor depth:           -127.706966
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.69;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 104.928844 meters
#   Minimum depth: 120.768844 meters looking forward 100.000000 meters along route
#   Maximum depth: 121.952378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 70.768844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799900;
longitude = -122.061877;
duration = 209;
initialDepth = 65.582072;
finalDepth = 70.768844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.649844
#   Actual altitude:          55.649844
#   Commanded vehicle depth:  70.768844 
#   Seafloor depth:           -121.952378
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 106.273694 meters
#   Minimum depth: 115.582072 meters looking forward 100.000000 meters along route
#   Maximum depth: 120.382024 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.582072 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800711;
longitude = -122.062482;
duration = 212;
initialDepth = 63.378214;
finalDepth = 65.582072;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.799952
#   Actual altitude:          54.799952
#   Commanded vehicle depth:  65.582072 
#   Seafloor depth:           -120.382024
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 103.583113 meters
#   Minimum depth: 113.378214 meters looking forward 100.000000 meters along route
#   Maximum depth: 115.551469 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 63.378214 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801533;
longitude = -122.063094;
duration = 207;
initialDepth = 62.084810;
finalDepth = 63.378214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.799952
#   Actual altitude:          54.799952
#   Commanded vehicle depth:  63.378214 
#   Seafloor depth:           -115.551469
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 104.927962 meters
#   Minimum depth: 112.084810 meters looking forward 100.000000 meters along route
#   Maximum depth: 113.817764 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.084810 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802334;
longitude = -122.063691;
duration = 209;
initialDepth = 60.059864;
finalDepth = 62.084810;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.173255
#   Actual altitude:          52.173255
#   Commanded vehicle depth:  62.08481 
#   Seafloor depth:           -113.817764
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 104.927668 meters
#   Minimum depth: 110.059864 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.245813 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.059864 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803145;
longitude = -122.064296;
duration = 209;
initialDepth = 57.892003;
finalDepth = 60.059864;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.185949
#   Actual altitude:          52.185949
#   Commanded vehicle depth:  60.059864 
#   Seafloor depth:           -112.245813
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 101.058844 meters
#   Minimum depth: 107.892003 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.064238 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.892003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803956;
longitude = -122.064901;
duration = 202;
initialDepth = 57.202878;
finalDepth = 57.892003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.185949
#   Actual altitude:          52.185949
#   Commanded vehicle depth:  57.892003 
#   Seafloor depth:           -110.064238
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 113
#   Segment length 163.244635 meters
#   Minimum depth: 107.202878 meters looking forward 100.000000 meters along route
#   Maximum depth: 107.962296 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.202878 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804737;
longitude = -122.065484;
duration = 326;
# abortOnTimeout    = True; 
initialDepth = 56.926076;
finalDepth = 57.202878;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.172235
#   Actual altitude:          52.172235
#   Commanded vehicle depth:  57.202878 
#   Seafloor depth:           -107.962296
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 100.202583 meters
#   Minimum depth: 106.926076 meters looking forward 100.000000 meters along route
#   Maximum depth: 108.132385 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.926076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805488;
longitude = -122.067058;
duration = 200;
initialDepth = 56.803090;
finalDepth = 56.926076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.882815
#   Actual altitude:          50.882815
#   Commanded vehicle depth:  56.926076 
#   Seafloor depth:           -107.808891
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 104.591511 meters
#   Minimum depth: 106.803090 meters looking forward 100.000000 meters along route
#   Maximum depth: 107.526078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.803090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805949;
longitude = -122.068024;
duration = 209;
initialDepth = 51.611545;
finalDepth = 56.803090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.882815
#   Actual altitude:          50.882815
#   Commanded vehicle depth:  56.80309 
#   Seafloor depth:           -107.340492
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 108.689177 meters
#   Minimum depth: 101.611545 meters looking forward 100.000000 meters along route
#   Maximum depth: 105.885110 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.611545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806430;
longitude = -122.069032;
duration = 217;
initialDepth = 51.415944;
finalDepth = 51.611545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.273565
#   Actual altitude:          54.273565
#   Commanded vehicle depth:  51.611545 
#   Seafloor depth:           -105.885110
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.28;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 100.492342 meters
#   Minimum depth: 101.415944 meters looking forward 100.000000 meters along route
#   Maximum depth: 101.587873 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.415944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806930;
longitude = -122.070080;
duration = 200;
initialDepth = 51.294409;
finalDepth = 51.415944;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.273565
#   Actual altitude:          54.273565
#   Commanded vehicle depth:  51.415944 
#   Seafloor depth:           -101.587873
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.28;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 108.449042 meters
#   Minimum depth: 101.294409 meters looking forward 100.000000 meters along route
#   Maximum depth: 101.871235 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.294409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807392;
longitude = -122.071049;
duration = 216;
initialDepth = 51.652431;
finalDepth = 51.294409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.263263
#   Actual altitude:          50.263263
#   Commanded vehicle depth:  51.294409 
#   Seafloor depth:           -101.557672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.08;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 112
#   Segment length 112.726448 meters
#   Minimum depth: 101.652431 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.263279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.652431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807891;
longitude = -122.072094;
duration = 225;
# abortOnTimeout    = True; 
initialDepth = 52.124517;
finalDepth = 51.652431;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.263263
#   Actual altitude:          50.263263
#   Commanded vehicle depth:  51.652431 
#   Seafloor depth:           -101.652431
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.08;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 107.299068 meters
#   Minimum depth: 102.124517 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.893980 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.124517 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808414;
longitude = -122.073177;
duration = 214;
initialDepth = 52.745763;
finalDepth = 52.124517;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  52.124517 
#   Seafloor depth:           -102.124517
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 102.576409 meters
#   Minimum depth: 102.745763 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.247994 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.745763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808913;
longitude = -122.074208;
duration = 205;
initialDepth = 52.636134;
finalDepth = 52.745763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.196544
#   Actual altitude:          50.196544
#   Commanded vehicle depth:  52.745763 
#   Seafloor depth:           -102.942307
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 104.936980 meters
#   Minimum depth: 102.636134 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.230041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.636134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809389;
longitude = -122.075194;
duration = 209;
initialDepth = 52.780675;
finalDepth = 52.636134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.294375
#   Actual altitude:          50.294375
#   Commanded vehicle depth:  52.636134 
#   Seafloor depth:           -102.930509
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.09;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 104.936474 meters
#   Minimum depth: 102.780675 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.739353 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.780675 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809876;
longitude = -122.076202;
duration = 209;
initialDepth = 53.587472;
finalDepth = 52.780675;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.294375
#   Actual altitude:          50.294375
#   Commanded vehicle depth:  52.780675 
#   Seafloor depth:           -102.780675
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.09;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 104.935969 meters
#   Minimum depth: 103.587472 meters looking forward 100.000000 meters along route
#   Maximum depth: 105.002079 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.587472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810363;
longitude = -122.077210;
duration = 209;
initialDepth = 55.087323;
finalDepth = 53.587472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  53.587472 
#   Seafloor depth:           -103.587472
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 106.677532 meters
#   Minimum depth: 105.087323 meters looking forward 100.000000 meters along route
#   Maximum depth: 106.422292 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.087323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810851;
longitude = -122.078219;
duration = 213;
initialDepth = 56.508960;
finalDepth = 55.087323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.189769
#   Actual altitude:          50.189769
#   Commanded vehicle depth:  55.087323 
#   Seafloor depth:           -105.277092
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 103.192890 meters
#   Minimum depth: 106.508960 meters looking forward 100.000000 meters along route
#   Maximum depth: 108.700460 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.508960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811346;
longitude = -122.079244;
duration = 206;
initialDepth = 58.630926;
finalDepth = 56.508960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.189769
#   Actual altitude:          50.189769
#   Commanded vehicle depth:  56.50896 
#   Seafloor depth:           -106.508960
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 104.934452 meters
#   Minimum depth: 108.630926 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.027445 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.630926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811825;
longitude = -122.080235;
duration = 209;
initialDepth = 61.038698;
finalDepth = 58.630926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  58.630926 
#   Seafloor depth:           -108.630926
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 104.933948 meters
#   Minimum depth: 111.038698 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.415862 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.038698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812312;
longitude = -122.081243;
duration = 209;
initialDepth = 61.169464;
finalDepth = 61.038698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.125766
#   Actual altitude:          50.125766
#   Commanded vehicle depth:  61.038698 
#   Seafloor depth:           -111.164464
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 101.088273 meters
#   Minimum depth: 111.169464 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.982693 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.169464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812800;
longitude = -122.082252;
duration = 202;
initialDepth = 61.911861;
finalDepth = 61.169464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.125766
#   Actual altitude:          50.125766
#   Commanded vehicle depth:  61.169464 
#   Seafloor depth:           -111.169464
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.04;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 111
#   Segment length 139.038092 meters
#   Minimum depth: 111.911861 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.920159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.911861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813269;
longitude = -122.083223;
duration = 278;
# abortOnTimeout    = True; 
initialDepth = 65.146824;
finalDepth = 61.911861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  61.911861 
#   Seafloor depth:           -111.911861
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 111
#   Segment length 100.150322 meters
#   Minimum depth: 115.146824 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.169004 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.146824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812265;
longitude = -122.084156;
duration = 200;
initialDepth = 69.305420;
finalDepth = 65.146824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  65.146824 
#   Seafloor depth:           -115.146824
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 111
#   Segment length 100.150640 meters
#   Minimum depth: 119.305420 meters looking forward 100.000000 meters along route
#   Maximum depth: 127.279124 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.305420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811542;
longitude = -122.084828;
duration = 200;
initialDepth = 71.187357;
finalDepth = 69.305420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  69.30542 
#   Seafloor depth:           -119.305420
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 111
#   Segment length 101.771299 meters
#   Minimum depth: 121.187357 meters looking forward 100.000000 meters along route
#   Maximum depth: 123.233216 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 71.187357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810819;
longitude = -122.085501;
duration = 203;
initialDepth = 73.281458;
finalDepth = 71.187357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.155368
#   Actual altitude:          50.155368
#   Commanded vehicle depth:  71.187357 
#   Seafloor depth:           -121.342725
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.05;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 111
#   Segment length 104.050304 meters
#   Minimum depth: 123.281458 meters looking forward 100.000000 meters along route
#   Maximum depth: 124.682847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 73.281458 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810084;
longitude = -122.086184;
duration = 208;
initialDepth = 73.724120;
finalDepth = 73.281458;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.155368
#   Actual altitude:          50.155368
#   Commanded vehicle depth:  73.281458 
#   Seafloor depth:           -123.281458
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.05;
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;
}
# 
#######################################################
# 
# 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 110
#   Segment length 102.211463 meters
#   Minimum depth: 123.724120 meters looking forward 100.000000 meters along route
#   Maximum depth: 127.303274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 73.724120 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809333;
longitude = -122.086882;
duration = 204;
# abortOnTimeout    = True; 
initialDepth = 77.309038;
finalDepth = 73.724120;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.244393
#   Actual altitude:          50.244393
#   Commanded vehicle depth:  73.72412 
#   Seafloor depth:           -123.968513
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.07;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 110
#   Segment length 102.209882 meters
#   Minimum depth: 127.309038 meters looking forward 100.000000 meters along route
#   Maximum depth: 137.705541 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.309038 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808462;
longitude = -122.086508;
duration = 204;
initialDepth = 88.188828;
finalDepth = 77.309038;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.244393
#   Actual altitude:          50.244393
#   Commanded vehicle depth:  77.309038 
#   Seafloor depth:           -127.309038
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.07;
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;
}
# 
#######################################################
# 
# 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 109
#   Segment length 108.687036 meters
#   Minimum depth: 138.188828 meters looking forward 100.000000 meters along route
#   Maximum depth: 143.044503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 88.188828 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807591;
longitude = -122.086135;
duration = 217;
# abortOnTimeout    = True; 
initialDepth = 90.356079;
finalDepth = 88.188828;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.834579
#   Actual altitude:          50.834579
#   Commanded vehicle depth:  88.188828 
#   Seafloor depth:           -139.023407
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 109
#   Segment length 100.352731 meters
#   Minimum depth: 140.356079 meters looking forward 100.000000 meters along route
#   Maximum depth: 144.848222 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.356079 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808372;
longitude = -122.085399;
duration = 200;
initialDepth = 92.443282;
finalDepth = 90.356079;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.066888
#   Actual altitude:          53.066888
#   Commanded vehicle depth:  90.356079 
#   Seafloor depth:           -143.422967
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 109
#   Segment length 100.352408 meters
#   Minimum depth: 142.443282 meters looking forward 100.000000 meters along route
#   Maximum depth: 160.573228 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 92.443282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809093;
longitude = -122.084720;
duration = 200;
initialDepth = 81.790758;
finalDepth = 92.443282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.066888
#   Actual altitude:          53.066888
#   Commanded vehicle depth:  92.443282 
#   Seafloor depth:           -142.443282
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 109
#   Segment length 100.352084 meters
#   Minimum depth: 131.790758 meters looking forward 100.000000 meters along route
#   Maximum depth: 161.297028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.790758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809814;
longitude = -122.084040;
duration = 200;
initialDepth = 65.272963;
finalDepth = 81.790758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.787431
#   Actual altitude:          78.787431
#   Commanded vehicle depth:  81.790758 
#   Seafloor depth:           -160.578189
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.64;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 109
#   Segment length 108.725182 meters
#   Minimum depth: 115.272963 meters looking forward 100.000000 meters along route
#   Maximum depth: 131.442077 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.272963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810535;
longitude = -122.083361;
duration = 217;
initialDepth = 61.805509;
finalDepth = 65.272963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       78.787431
#   Actual altitude:          78.787431
#   Commanded vehicle depth:  65.272963 
#   Seafloor depth:           -131.442077
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.64;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 108
#   Segment length 141.165465 meters
#   Minimum depth: 111.805509 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.902121 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.805509 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811316;
longitude = -122.082625;
duration = 282;
# abortOnTimeout    = True; 
initialDepth = 59.867767;
finalDepth = 61.805509;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.169114
#   Actual altitude:          66.169114
#   Commanded vehicle depth:  61.805509 
#   Seafloor depth:           -114.902121
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.85;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 100.821113 meters
#   Minimum depth: 109.867767 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.706294 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.867767 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810625;
longitude = -122.081296;
duration = 201;
initialDepth = 58.977110;
finalDepth = 59.867767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.096612
#   Actual altitude:          53.096612
#   Commanded vehicle depth:  59.867767 
#   Seafloor depth:           -111.706294
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.93;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 101.699536 meters
#   Minimum depth: 108.977110 meters looking forward 100.000000 meters along route
#   Maximum depth: 109.735561 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.977110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810131;
longitude = -122.080347;
duration = 203;
initialDepth = 59.144052;
finalDepth = 58.977110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.838527
#   Actual altitude:          51.838527
#   Commanded vehicle depth:  58.97711 
#   Seafloor depth:           -109.735561
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 100.628285 meters
#   Minimum depth: 109.144052 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.772932 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.144052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809634;
longitude = -122.079390;
duration = 201;
initialDepth = 60.734381;
finalDepth = 59.144052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.758451
#   Actual altitude:          50.758451
#   Commanded vehicle depth:  59.144052 
#   Seafloor depth:           -109.144052
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 107.115496 meters
#   Minimum depth: 110.734381 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.223944 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.734381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809141;
longitude = -122.078443;
duration = 214;
initialDepth = 59.220347;
finalDepth = 60.734381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.085013
#   Actual altitude:          50.085013
#   Commanded vehicle depth:  60.734381 
#   Seafloor depth:           -110.819394
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.03;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 107.116029 meters
#   Minimum depth: 109.220347 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.661760 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.220347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808617;
longitude = -122.077434;
duration = 214;
initialDepth = 59.950407;
finalDepth = 59.220347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.441413
#   Actual altitude:          51.441413
#   Commanded vehicle depth:  59.220347 
#   Seafloor depth:           -110.661760
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 108.598601 meters
#   Minimum depth: 109.950407 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.355128 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.950407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808092;
longitude = -122.076426;
duration = 217;
initialDepth = 60.257757;
finalDepth = 59.950407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.441413
#   Actual altitude:          51.441413
#   Commanded vehicle depth:  59.950407 
#   Seafloor depth:           -109.950407
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 105.635052 meters
#   Minimum depth: 110.257757 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.967704 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.257757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807561;
longitude = -122.075404;
duration = 211;
initialDepth = 61.186695;
finalDepth = 60.257757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  60.257757 
#   Seafloor depth:           -110.257757
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 103.099230 meters
#   Minimum depth: 111.186695 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.668323 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.186695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807044;
longitude = -122.074409;
duration = 206;
initialDepth = 64.930700;
finalDepth = 61.186695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  61.186695 
#   Seafloor depth:           -111.186695
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 107
#   Segment length 178.774067 meters
#   Minimum depth: 114.930700 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.645394 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.930700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806539;
longitude = -122.073439;
duration = 357;
# abortOnTimeout    = True; 
initialDepth = 66.780593;
finalDepth = 64.930700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  64.9307 
#   Seafloor depth:           -114.930700
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 106.120298 meters
#   Minimum depth: 116.780593 meters looking forward 100.000000 meters along route
#   Maximum depth: 117.183249 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.780593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805710;
longitude = -122.071721;
duration = 212;
initialDepth = 67.054624;
finalDepth = 66.780593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.402656
#   Actual altitude:          50.402656
#   Commanded vehicle depth:  66.780593 
#   Seafloor depth:           -117.183249
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 103.688075 meters
#   Minimum depth: 117.054624 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.961320 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 67.054624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805218;
longitude = -122.070701;
duration = 207;
initialDepth = 68.975732;
finalDepth = 67.054624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.402656
#   Actual altitude:          50.402656
#   Commanded vehicle depth:  67.054624 
#   Seafloor depth:           -117.054624
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 104.904944 meters
#   Minimum depth: 118.975732 meters looking forward 100.000000 meters along route
#   Maximum depth: 120.545378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 68.975732 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804737;
longitude = -122.069704;
duration = 209;
initialDepth = 70.957879;
finalDepth = 68.975732;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  68.975732 
#   Seafloor depth:           -118.975732
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 104.905449 meters
#   Minimum depth: 120.957879 meters looking forward 100.000000 meters along route
#   Maximum depth: 123.356719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 70.957879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804250;
longitude = -122.068696;
duration = 209;
initialDepth = 73.174374;
finalDepth = 70.957879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  70.957879 
#   Seafloor depth:           -120.957879
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.981974 meters
#   Minimum depth: 123.174374 meters looking forward 100.000000 meters along route
#   Maximum depth: 123.747666 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 73.174374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803763;
longitude = -122.067688;
duration = 201;
initialDepth = 73.281477;
finalDepth = 73.174374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.197386
#   Actual altitude:          50.197386
#   Commanded vehicle depth:  73.174374 
#   Seafloor depth:           -123.371760
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 106
#   Segment length 131.822099 meters
#   Minimum depth: 123.281477 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.485360 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 73.281477 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803295;
longitude = -122.066717;
duration = 263;
# abortOnTimeout    = True; 
initialDepth = 76.986859;
finalDepth = 73.281477;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.197386
#   Actual altitude:          50.197386
#   Commanded vehicle depth:  73.281477 
#   Seafloor depth:           -123.281477
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 101.679794 meters
#   Minimum depth: 126.986859 meters looking forward 100.000000 meters along route
#   Maximum depth: 131.417735 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 76.986859 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802243;
longitude = -122.066029;
duration = 203;
initialDepth = 81.576523;
finalDepth = 76.986859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  76.986859 
#   Seafloor depth:           -126.986859
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 101.680024 meters
#   Minimum depth: 131.576523 meters looking forward 100.000000 meters along route
#   Maximum depth: 134.481439 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.576523 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801432;
longitude = -122.065498;
duration = 203;
initialDepth = 84.796274;
finalDepth = 81.576523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  81.576523 
#   Seafloor depth:           -131.576523
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 101.680257 meters
#   Minimum depth: 134.796274 meters looking forward 100.000000 meters along route
#   Maximum depth: 139.989719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.796274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800621;
longitude = -122.064968;
duration = 203;
initialDepth = 90.010125;
finalDepth = 84.796274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  84.796274 
#   Seafloor depth:           -134.796274
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 106.991853 meters
#   Minimum depth: 140.010125 meters looking forward 100.000000 meters along route
#   Maximum depth: 146.302847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.010125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799810;
longitude = -122.064437;
duration = 213;
initialDepth = 96.638642;
finalDepth = 90.010125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  90.010125 
#   Seafloor depth:           -140.010125
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 100.110794 meters
#   Minimum depth: 146.638642 meters looking forward 100.000000 meters along route
#   Maximum depth: 150.553073 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 96.638642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798957;
longitude = -122.063878;
duration = 200;
initialDepth = 98.487215;
finalDepth = 96.638642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  96.638642 
#   Seafloor depth:           -146.638642
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 105
#   Segment length 128.717934 meters
#   Minimum depth: 148.487215 meters looking forward 100.000000 meters along route
#   Maximum depth: 150.959305 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 98.487215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798158;
longitude = -122.063356;
duration = 257;
# abortOnTimeout    = True; 
initialDepth = 98.421648;
finalDepth = 98.487215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.47209
#   Actual altitude:          52.47209
#   Commanded vehicle depth:  98.487215 
#   Seafloor depth:           -150.959305
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.74;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 105
#   Segment length 101.574521 meters
#   Minimum depth: 148.421648 meters looking forward 100.000000 meters along route
#   Maximum depth: 152.023207 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 98.421648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797148;
longitude = -122.062646;
duration = 203;
initialDepth = 102.080453;
finalDepth = 98.421648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.47209
#   Actual altitude:          52.47209
#   Commanded vehicle depth:  98.421648 
#   Seafloor depth:           -148.865003
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.74;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 105
#   Segment length 101.574776 meters
#   Minimum depth: 152.080453 meters looking forward 100.000000 meters along route
#   Maximum depth: 155.522223 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 102.080453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796351;
longitude = -122.062086;
duration = 203;
initialDepth = 105.420322;
finalDepth = 102.080453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.443355
#   Actual altitude:          50.443355
#   Commanded vehicle depth:  102.080453 
#   Seafloor depth:           -152.080453
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 105
#   Segment length 108.407485 meters
#   Minimum depth: 155.420322 meters looking forward 100.000000 meters along route
#   Maximum depth: 158.788772 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 105.420322 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795554;
longitude = -122.061526;
duration = 216;
initialDepth = 108.530758;
finalDepth = 105.420322;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.161785
#   Actual altitude:          50.161785
#   Commanded vehicle depth:  105.420322 
#   Seafloor depth:           -155.582107
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.05;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 104
#   Segment length 151.753453 meters
#   Minimum depth: 158.530758 meters looking forward 100.000000 meters along route
#   Maximum depth: 164.567365 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 108.530758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794703;
longitude = -122.060928;
duration = 303;
# abortOnTimeout    = True; 
initialDepth = 114.557950;
finalDepth = 108.530758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.161785
#   Actual altitude:          50.161785
#   Commanded vehicle depth:  108.530758 
#   Seafloor depth:           -158.530758
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.05;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 102.437926 meters
#   Minimum depth: 164.557950 meters looking forward 100.000000 meters along route
#   Maximum depth: 169.105868 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 114.557950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793501;
longitude = -122.060115;
duration = 204;
initialDepth = 119.002170;
finalDepth = 114.557950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  114.55795 
#   Seafloor depth:           -164.557950
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 102.438173 meters
#   Minimum depth: 169.002170 meters looking forward 100.000000 meters along route
#   Maximum depth: 174.088642 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 119.002170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792690;
longitude = -122.059567;
duration = 204;
initialDepth = 123.293981;
finalDepth = 119.002170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  119.00217 
#   Seafloor depth:           -169.002170
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 102.438418 meters
#   Minimum depth: 173.293981 meters looking forward 100.000000 meters along route
#   Maximum depth: 177.945237 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 123.293981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791879;
longitude = -122.059018;
duration = 204;
initialDepth = 128.349675;
finalDepth = 123.293981;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  123.293981 
#   Seafloor depth:           -173.293981
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 102.438666 meters
#   Minimum depth: 178.349675 meters looking forward 100.000000 meters along route
#   Maximum depth: 185.285743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 128.349675 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791068;
longitude = -122.058469;
duration = 204;
initialDepth = 135.521095;
finalDepth = 128.349675;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  128.349675 
#   Seafloor depth:           -178.349675
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 102.438911 meters
#   Minimum depth: 185.521095 meters looking forward 100.000000 meters along route
#   Maximum depth: 195.752237 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 135.521095 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790257;
longitude = -122.057921;
duration = 204;
initialDepth = 145.925551;
finalDepth = 135.521095;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  135.521095 
#   Seafloor depth:           -185.521095
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 109.977852 meters
#   Minimum depth: 195.925551 meters looking forward 100.000000 meters along route
#   Maximum depth: 203.993855 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 145.925551 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789446;
longitude = -122.057372;
duration = 219;
initialDepth = 153.941971;
finalDepth = 145.925551;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  145.925551 
#   Seafloor depth:           -195.925551
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 103
#   Segment length 92.121662 meters
#   Minimum depth: 203.941971 meters looking forward 100.000000 meters along route
#   Maximum depth: 207.365944 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 153.941971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788575;
longitude = -122.056783;
duration = 184;
# abortOnTimeout    = True; 
initialDepth = 157.378731;
finalDepth = 153.941971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.569496
#   Actual altitude:          50.569496
#   Commanded vehicle depth:  153.941971 
#   Seafloor depth:           -204.511467
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 103
#   Segment length 110.571597 meters
#   Minimum depth: 207.378731 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.688770 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 157.378731 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788002;
longitude = -122.056036;
duration = 221;
initialDepth = 166.218715;
finalDepth = 157.378731;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.569496
#   Actual altitude:          50.569496
#   Commanded vehicle depth:  157.378731 
#   Seafloor depth:           -207.378731
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 103
#   Segment length 101.416571 meters
#   Minimum depth: 216.218715 meters looking forward 100.000000 meters along route
#   Maximum depth: 231.058735 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 166.218715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787313;
longitude = -122.055140;
duration = 202;
initialDepth = 182.472752;
finalDepth = 166.218715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  166.218715 
#   Seafloor depth:           -216.218715
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 102
#   Segment length 125.898693 meters
#   Minimum depth: 232.472752 meters looking forward 100.000000 meters along route
#   Maximum depth: 247.361927 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 182.472752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786682;
longitude = -122.054318;
duration = 251;
# abortOnTimeout    = True; 
initialDepth = 200.390087;
finalDepth = 182.472752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  182.472752 
#   Seafloor depth:           -232.472752
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 102
#   Segment length 105.504507 meters
#   Minimum depth: 250.390087 meters looking forward 100.000000 meters along route
#   Maximum depth: 263.518837 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 200.390087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785570;
longitude = -122.054603;
duration = 211;
initialDepth = 195.833520;
finalDepth = 200.390087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  200.390087 
#   Seafloor depth:           -250.390087
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 101
#   Segment length 114.745790 meters
#   Minimum depth: 245.833520 meters looking forward 100.000000 meters along route
#   Maximum depth: 263.109306 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 195.833520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784639;
longitude = -122.054841;
duration = 229;
# abortOnTimeout    = True; 
initialDepth = 182.442354;
finalDepth = 195.833520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.275786
#   Actual altitude:          67.275786
#   Commanded vehicle depth:  195.83352 
#   Seafloor depth:           -263.109306
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.18;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 101
#   Segment length 104.775191 meters
#   Minimum depth: 232.442354 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.607660 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 182.442354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785409;
longitude = -122.055700;
duration = 209;
initialDepth = 170.427423;
finalDepth = 182.442354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.275786
#   Actual altitude:          67.275786
#   Commanded vehicle depth:  182.442354 
#   Seafloor depth:           -244.607660
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.18;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 101
#   Segment length 107.505910 meters
#   Minimum depth: 220.427423 meters looking forward 100.000000 meters along route
#   Maximum depth: 232.444944 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 170.427423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786111;
longitude = -122.056485;
duration = 215;
initialDepth = 165.362235;
finalDepth = 170.427423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.165306
#   Actual altitude:          62.165306
#   Commanded vehicle depth:  170.427423 
#   Seafloor depth:           -232.444944
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.65;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 101
#   Segment length 111.948487 meters
#   Minimum depth: 215.362235 meters looking forward 100.000000 meters along route
#   Maximum depth: 220.106585 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 165.362235 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786832;
longitude = -122.057290;
duration = 223;
initialDepth = 159.521090;
finalDepth = 165.362235;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.017521
#   Actual altitude:          62.017521
#   Commanded vehicle depth:  165.362235 
#   Seafloor depth:           -220.106585
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.61;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 100
#   Segment length 89.078748 meters
#   Minimum depth: 209.521090 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.459827 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 159.521090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787583;
longitude = -122.058128;
duration = 178;
# abortOnTimeout    = True; 
initialDepth = 152.802262;
finalDepth = 159.521090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.614263
#   Actual altitude:          55.614263
#   Commanded vehicle depth:  159.52109 
#   Seafloor depth:           -215.135353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.68;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 102.878788 meters
#   Minimum depth: 202.802262 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.418625 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 152.802262 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788285;
longitude = -122.058613;
duration = 205;
initialDepth = 147.607846;
finalDepth = 152.802262;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.616363
#   Actual altitude:          56.616363
#   Commanded vehicle depth:  152.802262 
#   Seafloor depth:           -209.418625
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.98;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 102.878533 meters
#   Minimum depth: 197.607846 meters looking forward 100.000000 meters along route
#   Maximum depth: 202.706867 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 147.607846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789095;
longitude = -122.059173;
duration = 205;
initialDepth = 141.847590;
finalDepth = 147.607846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.616363
#   Actual altitude:          56.616363
#   Commanded vehicle depth:  147.607846 
#   Seafloor depth:           -202.706867
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.98;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 102.878277 meters
#   Minimum depth: 191.847590 meters looking forward 100.000000 meters along route
#   Maximum depth: 197.561783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 141.847590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789906;
longitude = -122.059733;
duration = 205;
initialDepth = 138.623073;
finalDepth = 141.847590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.714193
#   Actual altitude:          55.714193
#   Commanded vehicle depth:  141.84759 
#   Seafloor depth:           -197.561783
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 102.878021 meters
#   Minimum depth: 188.623073 meters looking forward 100.000000 meters along route
#   Maximum depth: 191.778253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 138.623073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790716;
longitude = -122.060293;
duration = 205;
initialDepth = 137.070342;
finalDepth = 138.623073;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.714193
#   Actual altitude:          55.714193
#   Commanded vehicle depth:  138.623073 
#   Seafloor depth:           -191.778253
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 102.877765 meters
#   Minimum depth: 187.070342 meters looking forward 100.000000 meters along route
#   Maximum depth: 189.006608 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 137.070342 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791527;
longitude = -122.060854;
duration = 205;
initialDepth = 131.763796;
finalDepth = 137.070342;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.15518
#   Actual altitude:          53.15518
#   Commanded vehicle depth:  137.070342 
#   Seafloor depth:           -188.714265
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 102.877509 meters
#   Minimum depth: 181.763796 meters looking forward 100.000000 meters along route
#   Maximum depth: 187.037936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 131.763796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792338;
longitude = -122.061414;
duration = 205;
initialDepth = 130.713505;
finalDepth = 131.763796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.27414
#   Actual altitude:          55.27414
#   Commanded vehicle depth:  131.763796 
#   Seafloor depth:           -187.037936
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 109.650542 meters
#   Minimum depth: 180.713505 meters looking forward 100.000000 meters along route
#   Maximum depth: 182.642505 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 130.713505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793148;
longitude = -122.061974;
duration = 219;
initialDepth = 132.702287;
finalDepth = 130.713505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       55.27414
#   Actual altitude:          55.27414
#   Commanded vehicle depth:  130.713505 
#   Seafloor depth:           -181.773632
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.58;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 99
#   Segment length 140.740083 meters
#   Minimum depth: 182.702287 meters looking forward 100.000000 meters along route
#   Maximum depth: 184.246097 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 132.702287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794012;
longitude = -122.062571;
duration = 281;
# abortOnTimeout    = True; 
initialDepth = 134.613918;
finalDepth = 132.702287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.060127
#   Actual altitude:          51.060127
#   Commanded vehicle depth:  132.702287 
#   Seafloor depth:           -182.732651
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 99
#   Segment length 102.693057 meters
#   Minimum depth: 184.613918 meters looking forward 100.000000 meters along route
#   Maximum depth: 188.955537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 134.613918 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795124;
longitude = -122.063331;
duration = 205;
initialDepth = 134.469163;
finalDepth = 134.613918;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.030364
#   Actual altitude:          50.030364
#   Commanded vehicle depth:  134.613918 
#   Seafloor depth:           -184.613918
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.01;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 99
#   Segment length 102.692806 meters
#   Minimum depth: 184.469163 meters looking forward 100.000000 meters along route
#   Maximum depth: 188.165011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 134.469163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795935;
longitude = -122.063886;
duration = 205;
initialDepth = 130.416258;
finalDepth = 134.469163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.695848
#   Actual altitude:          53.695848
#   Commanded vehicle depth:  134.469163 
#   Seafloor depth:           -188.165011
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 99
#   Segment length 110.291825 meters
#   Minimum depth: 180.416258 meters looking forward 100.000000 meters along route
#   Maximum depth: 184.468539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 130.416258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796746;
longitude = -122.064440;
duration = 220;
initialDepth = 118.381161;
finalDepth = 130.416258;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.052281
#   Actual altitude:          54.052281
#   Commanded vehicle depth:  130.416258 
#   Seafloor depth:           -184.468539
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.22;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 98
#   Segment length 141.425602 meters
#   Minimum depth: 168.381161 meters looking forward 100.000000 meters along route
#   Maximum depth: 180.477192 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 118.381161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797617;
longitude = -122.065036;
duration = 282;
# abortOnTimeout    = True; 
initialDepth = 109.738164;
finalDepth = 118.381161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.096031
#   Actual altitude:          62.096031
#   Commanded vehicle depth:  118.381161 
#   Seafloor depth:           -180.477192
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.63;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 98
#   Segment length 103.196601 meters
#   Minimum depth: 159.738164 meters looking forward 100.000000 meters along route
#   Maximum depth: 167.968709 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 109.738164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798729;
longitude = -122.065812;
duration = 206;
initialDepth = 108.878695;
finalDepth = 109.738164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.096031
#   Actual altitude:          62.096031
#   Commanded vehicle depth:  109.738164 
#   Seafloor depth:           -167.968709
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.63;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 98
#   Segment length 103.196340 meters
#   Minimum depth: 158.878695 meters looking forward 100.000000 meters along route
#   Maximum depth: 160.058397 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 108.878695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799540;
longitude = -122.066378;
duration = 206;
initialDepth = 108.613321;
finalDepth = 108.878695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.230545
#   Actual altitude:          58.230545
#   Commanded vehicle depth:  108.878695 
#   Seafloor depth:           -160.058397
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 98
#   Segment length 103.196079 meters
#   Minimum depth: 158.613321 meters looking forward 100.000000 meters along route
#   Maximum depth: 159.773528 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 108.613321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800351;
longitude = -122.066945;
duration = 206;
initialDepth = 99.098765;
finalDepth = 108.613321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.179702
#   Actual altitude:          51.179702
#   Commanded vehicle depth:  108.613321 
#   Seafloor depth:           -159.249821
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 98
#   Segment length 107.005260 meters
#   Minimum depth: 149.098765 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.964410 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 99.098765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801162;
longitude = -122.067511;
duration = 214;
initialDepth = 86.623744;
finalDepth = 99.098765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.865645
#   Actual altitude:          58.865645
#   Commanded vehicle depth:  99.098765 
#   Seafloor depth:           -157.964410
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.66;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 97
#   Segment length 167.784514 meters
#   Minimum depth: 136.623744 meters looking forward 100.000000 meters along route
#   Maximum depth: 148.311455 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.623744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802003;
longitude = -122.068098;
duration = 335;
# abortOnTimeout    = True; 
initialDepth = 83.171154;
finalDepth = 86.623744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.687711
#   Actual altitude:          61.687711
#   Commanded vehicle depth:  86.623744 
#   Seafloor depth:           -148.311455
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.51;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 97
#   Segment length 105.329371 meters
#   Minimum depth: 133.171154 meters looking forward 100.000000 meters along route
#   Maximum depth: 136.561686 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 83.171154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802790;
longitude = -122.069704;
duration = 210;
initialDepth = 82.697626;
finalDepth = 83.171154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.687711
#   Actual altitude:          61.687711
#   Commanded vehicle depth:  83.171154 
#   Seafloor depth:           -136.561686
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.51;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 97
#   Segment length 105.328860 meters
#   Minimum depth: 132.697626 meters looking forward 100.000000 meters along route
#   Maximum depth: 133.753414 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 82.697626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803284;
longitude = -122.070712;
duration = 210;
initialDepth = 83.772655;
finalDepth = 82.697626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.390532
#   Actual altitude:          53.390532
#   Commanded vehicle depth:  82.697626 
#   Seafloor depth:           -132.752672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 97
#   Segment length 105.328350 meters
#   Minimum depth: 133.772655 meters looking forward 100.000000 meters along route
#   Maximum depth: 135.763371 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 83.772655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803778;
longitude = -122.071721;
duration = 210;
initialDepth = 84.365980;
finalDepth = 83.772655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.055046
#   Actual altitude:          50.055046
#   Commanded vehicle depth:  83.772655 
#   Seafloor depth:           -133.772655
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 97
#   Segment length 105.586027 meters
#   Minimum depth: 134.365980 meters looking forward 100.000000 meters along route
#   Maximum depth: 136.486513 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.365980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804272;
longitude = -122.072729;
duration = 211;
initialDepth = 80.138305;
finalDepth = 84.365980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.34365
#   Actual altitude:          51.34365
#   Commanded vehicle depth:  84.36598 
#   Seafloor depth:           -135.709630
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 97
#   Segment length 108.980868 meters
#   Minimum depth: 130.138305 meters looking forward 100.000000 meters along route
#   Maximum depth: 134.351591 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 80.138305 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804767;
longitude = -122.073740;
duration = 217;
initialDepth = 77.950705;
finalDepth = 80.138305;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.213286
#   Actual altitude:          54.213286
#   Commanded vehicle depth:  80.138305 
#   Seafloor depth:           -134.351591
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 96
#   Segment length 179.953293 meters
#   Minimum depth: 127.950705 meters looking forward 100.000000 meters along route
#   Maximum depth: 130.136513 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.950705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805278;
longitude = -122.074783;
duration = 359;
# abortOnTimeout    = True; 
initialDepth = 78.224914;
finalDepth = 77.950705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.213286
#   Actual altitude:          54.213286
#   Commanded vehicle depth:  77.950705 
#   Seafloor depth:           -130.136513
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 101.457313 meters
#   Minimum depth: 128.224914 meters looking forward 100.000000 meters along route
#   Maximum depth: 129.395642 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 78.224914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806219;
longitude = -122.076426;
duration = 202;
initialDepth = 74.862350;
finalDepth = 78.224914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.185808
#   Actual altitude:          52.185808
#   Commanded vehicle depth:  78.224914 
#   Seafloor depth:           -128.676891
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 103.401934 meters
#   Minimum depth: 124.862350 meters looking forward 100.000000 meters along route
#   Maximum depth: 128.199360 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.862350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806750;
longitude = -122.077352;
duration = 206;
initialDepth = 74.690511;
finalDepth = 74.862350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.33701
#   Actual altitude:          53.33701
#   Commanded vehicle depth:  74.86235 
#   Seafloor depth:           -128.199360
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 103.401436 meters
#   Minimum depth: 124.690511 meters looking forward 100.000000 meters along route
#   Maximum depth: 135.361547 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.690511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807290;
longitude = -122.078296;
duration = 206;
initialDepth = 82.162256;
finalDepth = 74.690511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.33701
#   Actual altitude:          53.33701
#   Commanded vehicle depth:  74.690511 
#   Seafloor depth:           -125.096691
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 108.924048 meters
#   Minimum depth: 132.162256 meters looking forward 100.000000 meters along route
#   Maximum depth: 135.425652 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 82.162256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807831;
longitude = -122.079241;
duration = 217;
initialDepth = 81.641933;
finalDepth = 82.162256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.263396
#   Actual altitude:          53.263396
#   Commanded vehicle depth:  82.162256 
#   Seafloor depth:           -135.425652
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.98;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 110.429898 meters
#   Minimum depth: 131.641933 meters looking forward 100.000000 meters along route
#   Maximum depth: 133.053756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.641933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808401;
longitude = -122.080235;
duration = 220;
initialDepth = 81.467131;
finalDepth = 81.641933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.263396
#   Actual altitude:          53.263396
#   Commanded vehicle depth:  81.641933 
#   Seafloor depth:           -132.652223
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.98;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 102.251992 meters
#   Minimum depth: 131.467131 meters looking forward 100.000000 meters along route
#   Maximum depth: 151.661665 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.467131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808978;
longitude = -122.081243;
duration = 204;
initialDepth = 87.782558;
finalDepth = 81.467131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.01029
#   Actual altitude:          51.01029
#   Commanded vehicle depth:  81.467131 
#   Seafloor depth:           -132.362916
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 95
#   Segment length 160.977637 meters
#   Minimum depth: 137.782558 meters looking forward 100.000000 meters along route
#   Maximum depth: 223.003046 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 87.782558 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809513;
longitude = -122.082177;
duration = 321;
# abortOnTimeout    = True; 
initialDepth = 173.424689;
finalDepth = 87.782558;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.895785
#   Actual altitude:          50.895785
#   Commanded vehicle depth:  87.782558 
#   Seafloor depth:           -137.782558
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 95
#   Segment length 101.709782 meters
#   Minimum depth: 223.424689 meters looking forward 100.000000 meters along route
#   Maximum depth: 230.796397 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 173.424689 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808372;
longitude = -122.083292;
duration = 203;
initialDepth = 152.940612;
finalDepth = 173.424689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  173.424689 
#   Seafloor depth:           -223.424689
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 95
#   Segment length 104.040178 meters
#   Minimum depth: 202.940612 meters looking forward 100.000000 meters along route
#   Maximum depth: 230.130847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 152.940612 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807651;
longitude = -122.083996;
duration = 208;
initialDepth = 142.694727;
finalDepth = 152.940612;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.806596
#   Actual altitude:          72.806596
#   Commanded vehicle depth:  152.940612 
#   Seafloor depth:           -225.747208
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.84;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 95
#   Segment length 107.829167 meters
#   Minimum depth: 192.694727 meters looking forward 100.000000 meters along route
#   Maximum depth: 202.632704 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 142.694727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806913;
longitude = -122.084716;
duration = 215;
initialDepth = 147.883041;
finalDepth = 142.694727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.806596
#   Actual altitude:          72.806596
#   Commanded vehicle depth:  142.694727 
#   Seafloor depth:           -202.632704
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.84;
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;
}
# 
#######################################################
# 
# 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 94
#   Segment length 172.581066 meters
#   Minimum depth: 197.883041 meters looking forward 100.000000 meters along route
#   Maximum depth: 229.814390 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 147.883041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806149;
longitude = -122.085463;
duration = 345;
# abortOnTimeout    = True; 
initialDepth = 175.809925;
finalDepth = 147.883041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.937977
#   Actual altitude:          59.937977
#   Commanded vehicle depth:  147.883041 
#   Seafloor depth:           -197.883041
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.98;
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;
}
# 
#######################################################
# 
# 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 93
#   Segment length 134.639540 meters
#   Minimum depth: 225.809925 meters looking forward 100.000000 meters along route
#   Maximum depth: 284.931315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.809925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804617;
longitude = -122.085127;
duration = 269;
# abortOnTimeout    = True; 
initialDepth = 230.448100;
finalDepth = 175.809925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  175.809925 
#   Seafloor depth:           -225.809925
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.011001 meters
#   Minimum depth: 280.448100 meters looking forward 100.000000 meters along route
#   Maximum depth: 292.071550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 230.448100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805578;
longitude = -122.084205;
duration = 202;
initialDepth = 238.029882;
finalDepth = 230.448100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.208878
#   Actual altitude:          57.208878
#   Commanded vehicle depth:  230.4481 
#   Seafloor depth:           -287.656978
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.16;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 102.537915 meters
#   Minimum depth: 288.029882 meters looking forward 100.000000 meters along route
#   Maximum depth: 298.054828 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 238.029882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806299;
longitude = -122.083514;
duration = 205;
initialDepth = 184.243981;
finalDepth = 238.029882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.208878
#   Actual altitude:          57.208878
#   Commanded vehicle depth:  238.029882 
#   Seafloor depth:           -292.474709
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.16;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 103.686047 meters
#   Minimum depth: 234.243981 meters looking forward 100.000000 meters along route
#   Maximum depth: 287.987743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 184.243981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807031;
longitude = -122.082812;
duration = 207;
initialDepth = 165.327282;
finalDepth = 184.243981;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       103.743762
#   Actual altitude:          100
#   Commanded vehicle depth:  184.243981 
#   Seafloor depth:           -287.987743
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 92
#   Segment length 96.097601 meters
#   Minimum depth: 215.327282 meters looking forward 100.000000 meters along route
#   Maximum depth: 227.164051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 165.327282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807771;
longitude = -122.082102;
duration = 192;
# abortOnTimeout    = True; 
initialDepth = 162.506379;
finalDepth = 165.327282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       103.743762
#   Actual altitude:          100
#   Commanded vehicle depth:  165.327282 
#   Seafloor depth:           -226.599033
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 100.309926 meters
#   Minimum depth: 212.506379 meters looking forward 100.000000 meters along route
#   Maximum depth: 221.908004 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 162.506379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807248;
longitude = -122.081243;
duration = 200;
initialDepth = 164.949349;
finalDepth = 162.506379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.271751
#   Actual altitude:          61.271751
#   Commanded vehicle depth:  162.506379 
#   Seafloor depth:           -214.817258
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.38;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 100.310391 meters
#   Minimum depth: 214.949349 meters looking forward 100.000000 meters along route
#   Maximum depth: 223.304210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 164.949349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806702;
longitude = -122.080347;
duration = 200;
initialDepth = 151.533628;
finalDepth = 164.949349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.38349
#   Actual altitude:          54.38349
#   Commanded vehicle depth:  164.949349 
#   Seafloor depth:           -219.332839
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 100.310856 meters
#   Minimum depth: 201.533628 meters looking forward 100.000000 meters along route
#   Maximum depth: 211.841925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 151.533628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806156;
longitude = -122.079451;
duration = 200;
initialDepth = 153.999947;
finalDepth = 151.533628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.654879
#   Actual altitude:          58.654879
#   Commanded vehicle depth:  151.533628 
#   Seafloor depth:           -210.188507
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.60;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 100.311322 meters
#   Minimum depth: 203.999947 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.708462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 153.999947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805610;
longitude = -122.078555;
duration = 200;
initialDepth = 145.644910;
finalDepth = 153.999947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.654879
#   Actual altitude:          58.654879
#   Commanded vehicle depth:  153.999947 
#   Seafloor depth:           -208.407713
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.60;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 104.192812 meters
#   Minimum depth: 195.644910 meters looking forward 100.000000 meters along route
#   Maximum depth: 200.668163 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 145.644910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805064;
longitude = -122.077658;
duration = 208;
initialDepth = 119.110986;
finalDepth = 145.644910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.023253
#   Actual altitude:          55.023253
#   Commanded vehicle depth:  145.64491 
#   Seafloor depth:           -200.668163
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.51;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 104.810844 meters
#   Minimum depth: 169.110986 meters looking forward 100.000000 meters along route
#   Maximum depth: 199.454363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 119.110986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804497;
longitude = -122.076727;
duration = 209;
initialDepth = 115.895151;
finalDepth = 119.110986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       80.343377
#   Actual altitude:          80.343377
#   Commanded vehicle depth:  119.110986 
#   Seafloor depth:           -199.454363
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.10;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 91
#   Segment length 109.248625 meters
#   Minimum depth: 165.895151 meters looking forward 100.000000 meters along route
#   Maximum depth: 180.224403 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 115.895151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803926;
longitude = -122.075791;
duration = 218;
# abortOnTimeout    = True; 
initialDepth = 130.351208;
finalDepth = 115.895151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.343377
#   Actual altitude:          80.343377
#   Commanded vehicle depth:  115.895151 
#   Seafloor depth:           -170.785267
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.10;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 105.365630 meters
#   Minimum depth: 180.351208 meters looking forward 100.000000 meters along route
#   Maximum depth: 205.487004 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 130.351208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803413;
longitude = -122.074746;
duration = 210;
initialDepth = 126.242358;
finalDepth = 130.351208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.890116
#   Actual altitude:          54.890116
#   Commanded vehicle depth:  130.351208 
#   Seafloor depth:           -180.351208
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 105.433261 meters
#   Minimum depth: 176.242358 meters looking forward 100.000000 meters along route
#   Maximum depth: 198.982512 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 126.242358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802919;
longitude = -122.073737;
duration = 210;
initialDepth = 121.230932;
finalDepth = 126.242358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.740154
#   Actual altitude:          72.740154
#   Commanded vehicle depth:  126.242358 
#   Seafloor depth:           -198.982512
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 105.299532 meters
#   Minimum depth: 171.230932 meters looking forward 100.000000 meters along route
#   Maximum depth: 176.219996 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.230932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802424;
longitude = -122.072728;
duration = 210;
initialDepth = 122.590654;
finalDepth = 121.230932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.740154
#   Actual altitude:          72.740154
#   Commanded vehicle depth:  121.230932 
#   Seafloor depth:           -176.219996
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 105.898780 meters
#   Minimum depth: 172.590654 meters looking forward 100.000000 meters along route
#   Maximum depth: 179.246270 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 122.590654 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801929;
longitude = -122.071721;
duration = 211;
initialDepth = 129.226726;
finalDepth = 122.590654;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.989064
#   Actual altitude:          54.989064
#   Commanded vehicle depth:  122.590654 
#   Seafloor depth:           -172.590654
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.50;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 108.716854 meters
#   Minimum depth: 179.226726 meters looking forward 100.000000 meters along route
#   Maximum depth: 211.555296 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 129.226726 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801432;
longitude = -122.070707;
duration = 217;
initialDepth = 161.555296;
finalDepth = 129.226726;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  129.226726 
#   Seafloor depth:           -179.226726
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 90
#   Segment length 95.825143 meters
#   Minimum depth: 211.555296 meters looking forward 100.000000 meters along route
#   Maximum depth: 267.718342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 161.555296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800922;
longitude = -122.069667;
duration = 191;
# abortOnTimeout    = True; 
initialDepth = 175.265985;
finalDepth = 161.555296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.748331
#   Actual altitude:          50.748331
#   Commanded vehicle depth:  161.555296 
#   Seafloor depth:           -212.303627
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 103.437703 meters
#   Minimum depth: 225.265985 meters looking forward 100.000000 meters along route
#   Maximum depth: 260.435465 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.265985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800171;
longitude = -122.069137;
duration = 206;
initialDepth = 145.660706;
finalDepth = 175.265985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.16948
#   Actual altitude:          85.16948
#   Commanded vehicle depth:  175.265985 
#   Seafloor depth:           -260.435465
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 103.437969 meters
#   Minimum depth: 195.660706 meters looking forward 100.000000 meters along route
#   Maximum depth: 222.548570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 145.660706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799359;
longitude = -122.068566;
duration = 206;
initialDepth = 145.093939;
finalDepth = 145.660706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.16948
#   Actual altitude:          85.16948
#   Commanded vehicle depth:  145.660706 
#   Seafloor depth:           -222.548570
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 103.438234 meters
#   Minimum depth: 195.093939 meters looking forward 100.000000 meters along route
#   Maximum depth: 211.272757 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 145.093939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798548;
longitude = -122.067994;
duration = 206;
initialDepth = 164.640587;
finalDepth = 145.093939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.887864
#   Actual altitude:          76.887864
#   Commanded vehicle depth:  145.093939 
#   Seafloor depth:           -195.714690
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.07;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 107.278113 meters
#   Minimum depth: 214.640587 meters looking forward 100.000000 meters along route
#   Maximum depth: 284.358787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 164.640587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797737;
longitude = -122.067422;
duration = 214;
initialDepth = 189.222222;
finalDepth = 164.640587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.620751
#   Actual altitude:          50.620751
#   Commanded vehicle depth:  164.640587 
#   Seafloor depth:           -214.640587
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.19;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 89
#   Segment length 133.163116 meters
#   Minimum depth: 239.222222 meters looking forward 100.000000 meters along route
#   Maximum depth: 287.323570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 189.222222 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796896;
longitude = -122.066829;
duration = 266;
# abortOnTimeout    = True; 
initialDepth = 185.255578;
finalDepth = 189.222222;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.101348
#   Actual altitude:          98.101348
#   Commanded vehicle depth:  189.222222 
#   Seafloor depth:           -287.323570
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.43;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 89
#   Segment length 102.732674 meters
#   Minimum depth: 235.255578 meters looking forward 100.000000 meters along route
#   Maximum depth: 253.915292 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 185.255578 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795845;
longitude = -122.066109;
duration = 205;
initialDepth = 195.507254;
finalDepth = 185.255578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.101348
#   Actual altitude:          98.101348
#   Commanded vehicle depth:  185.255578 
#   Seafloor depth:           -238.359933
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 89
#   Segment length 102.732926 meters
#   Minimum depth: 245.507254 meters looking forward 100.000000 meters along route
#   Maximum depth: 253.630358 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 195.507254 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795034;
longitude = -122.065553;
duration = 205;
initialDepth = 176.688700;
finalDepth = 195.507254;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.304558
#   Actual altitude:          55.304558
#   Commanded vehicle depth:  195.507254 
#   Seafloor depth:           -250.811812
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 89
#   Segment length 110.366605 meters
#   Minimum depth: 226.688700 meters looking forward 100.000000 meters along route
#   Maximum depth: 245.439098 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 176.688700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794222;
longitude = -122.064998;
duration = 220;
initialDepth = 167.429044;
finalDepth = 176.688700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       68.750398
#   Actual altitude:          68.750398
#   Commanded vehicle depth:  176.6887 
#   Seafloor depth:           -245.439098
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.63;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 88
#   Segment length 133.726981 meters
#   Minimum depth: 217.429044 meters looking forward 100.000000 meters along route
#   Maximum depth: 226.471539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 167.429044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793351;
longitude = -122.064401;
duration = 267;
# abortOnTimeout    = True; 
initialDepth = 165.028594;
finalDepth = 167.429044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.750398
#   Actual altitude:          68.750398
#   Commanded vehicle depth:  167.429044 
#   Seafloor depth:           -226.471539
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.63;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.337403 meters
#   Minimum depth: 215.028594 meters looking forward 100.000000 meters along route
#   Maximum depth: 218.482992 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 165.028594 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792306;
longitude = -122.063654;
duration = 200;
initialDepth = 165.013647;
finalDepth = 165.028594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.042495
#   Actual altitude:          59.042495
#   Commanded vehicle depth:  165.028594 
#   Seafloor depth:           -217.738224
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.337656 meters
#   Minimum depth: 215.013647 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.797557 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 165.013647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791522;
longitude = -122.063094;
duration = 200;
initialDepth = 163.336713;
finalDepth = 165.013647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.70963
#   Actual altitude:          52.70963
#   Commanded vehicle depth:  165.013647 
#   Seafloor depth:           -215.822361
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.337912 meters
#   Minimum depth: 213.336713 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.512030 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 163.336713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790737;
longitude = -122.062534;
duration = 200;
initialDepth = 163.262704;
finalDepth = 163.336713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.175317
#   Actual altitude:          53.175317
#   Commanded vehicle depth:  163.336713 
#   Seafloor depth:           -216.512030
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.338165 meters
#   Minimum depth: 213.262704 meters looking forward 100.000000 meters along route
#   Maximum depth: 217.931974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 163.262704 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789953;
longitude = -122.061974;
duration = 200;
initialDepth = 168.004587;
finalDepth = 163.262704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.175317
#   Actual altitude:          53.175317
#   Commanded vehicle depth:  163.262704 
#   Seafloor depth:           -213.262704
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 102.927680 meters
#   Minimum depth: 218.004587 meters looking forward 100.000000 meters along route
#   Maximum depth: 222.107282 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.004587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789169;
longitude = -122.061414;
duration = 205;
initialDepth = 172.259107;
finalDepth = 168.004587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  168.004587 
#   Seafloor depth:           -218.004587
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 103.776869 meters
#   Minimum depth: 222.259107 meters looking forward 100.000000 meters along route
#   Maximum depth: 229.653688 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 172.259107 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788364;
longitude = -122.060839;
duration = 207;
initialDepth = 180.435177;
finalDepth = 172.259107;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  172.259107 
#   Seafloor depth:           -222.259107
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 107.626396 meters
#   Minimum depth: 230.435177 meters looking forward 100.000000 meters along route
#   Maximum depth: 239.380210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 180.435177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787553;
longitude = -122.060260;
duration = 215;
initialDepth = 188.269938;
finalDepth = 180.435177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  180.435177 
#   Seafloor depth:           -230.435177
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 87
#   Segment length 136.712681 meters
#   Minimum depth: 238.269938 meters looking forward 100.000000 meters along route
#   Maximum depth: 245.827503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 188.269938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786712;
longitude = -122.059659;
duration = 273;
# abortOnTimeout    = True; 
initialDepth = 195.569769;
finalDepth = 188.269938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.883897
#   Actual altitude:          51.883897
#   Commanded vehicle depth:  188.269938 
#   Seafloor depth:           -240.153835
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 87
#   Segment length 105.020578 meters
#   Minimum depth: 245.569769 meters looking forward 100.000000 meters along route
#   Maximum depth: 255.574381 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 195.569769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785812;
longitude = -122.058613;
duration = 210;
initialDepth = 204.902436;
finalDepth = 195.569769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.883897
#   Actual altitude:          51.883897
#   Commanded vehicle depth:  195.569769 
#   Seafloor depth:           -245.569769
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 87
#   Segment length 104.891642 meters
#   Minimum depth: 254.902436 meters looking forward 100.000000 meters along route
#   Maximum depth: 260.311503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 204.902436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785120;
longitude = -122.057810;
duration = 209;
initialDepth = 208.797249;
finalDepth = 204.902436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  204.902436 
#   Seafloor depth:           -254.902436
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 86
#   Segment length 117.600577 meters
#   Minimum depth: 258.797249 meters looking forward 100.000000 meters along route
#   Maximum depth: 269.895698 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.797249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784429;
longitude = -122.057007;
duration = 235;
# abortOnTimeout    = True; 
initialDepth = 220.567181;
finalDepth = 208.797249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  208.797249 
#   Seafloor depth:           -258.797249
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 105.873871 meters
#   Minimum depth: 270.567181 meters looking forward 100.000000 meters along route
#   Maximum depth: 284.303021 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 220.567181 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783555;
longitude = -122.056260;
duration = 211;
initialDepth = 234.121895;
finalDepth = 220.567181;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  220.567181 
#   Seafloor depth:           -270.567181
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.043002 meters
#   Minimum depth: 284.121895 meters looking forward 100.000000 meters along route
#   Maximum depth: 305.944874 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 234.121895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782769;
longitude = -122.055588;
duration = 200;
initialDepth = 252.290277;
finalDepth = 234.121895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  234.121895 
#   Seafloor depth:           -284.121895
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 85
#   Segment length 76.893923 meters
#   Minimum depth: 302.290277 meters looking forward 100.000000 meters along route
#   Maximum depth: 316.142777 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 252.290277 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782026;
longitude = -122.054953;
duration = 153;
# abortOnTimeout    = True; 
initialDepth = 269.649892;
finalDepth = 252.290277;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.505057
#   Actual altitude:          53.505057
#   Commanded vehicle depth:  252.290277 
#   Seafloor depth:           -305.795334
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.05;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 85
#   Segment length 100.237102 meters
#   Minimum depth: 319.649892 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.911891 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 269.649892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781335;
longitude = -122.055014;
duration = 200;
initialDepth = 282.706324;
finalDepth = 269.649892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.505057
#   Actual altitude:          53.505057
#   Commanded vehicle depth:  269.649892 
#   Seafloor depth:           -319.649892
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.05;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 85
#   Segment length 103.591281 meters
#   Minimum depth: 332.706324 meters looking forward 100.000000 meters along route
#   Maximum depth: 347.092779 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 282.706324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780433;
longitude = -122.055094;
duration = 207;
initialDepth = 283.659561;
finalDepth = 282.706324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  282.706324 
#   Seafloor depth:           -332.706324
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 84
#   Segment length 96.738403 meters
#   Minimum depth: 333.659561 meters looking forward 100.000000 meters along route
#   Maximum depth: 346.998077 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 283.659561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779502;
longitude = -122.055177;
duration = 193;
# abortOnTimeout    = True; 
initialDepth = 274.306854;
finalDepth = 283.659561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.338516
#   Actual altitude:          63.338516
#   Commanded vehicle depth:  283.659561 
#   Seafloor depth:           -346.998077
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 104.461001 meters
#   Minimum depth: 324.306854 meters looking forward 100.000000 meters along route
#   Maximum depth: 331.727010 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 274.306854 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780253;
longitude = -122.055728;
duration = 208;
initialDepth = 265.879847;
finalDepth = 274.306854;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.338516
#   Actual altitude:          63.338516
#   Commanded vehicle depth:  274.306854 
#   Seafloor depth:           -331.727010
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 107.252331 meters
#   Minimum depth: 315.879847 meters looking forward 100.000000 meters along route
#   Maximum depth: 323.967579 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 265.879847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781064;
longitude = -122.056322;
duration = 214;
initialDepth = 258.895557;
finalDepth = 265.879847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.420156
#   Actual altitude:          57.420156
#   Commanded vehicle depth:  265.879847 
#   Seafloor depth:           -321.955810
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 101.668815 meters
#   Minimum depth: 308.895557 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.557363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 258.895557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781897;
longitude = -122.056933;
duration = 203;
initialDepth = 261.814786;
finalDepth = 258.895557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.669697
#   Actual altitude:          57.669697
#   Commanded vehicle depth:  258.895557 
#   Seafloor depth:           -316.565254
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.30;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 108.372894 meters
#   Minimum depth: 311.814786 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.656050 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 261.814786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782687;
longitude = -122.057511;
duration = 216;
initialDepth = 263.092468;
finalDepth = 261.814786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.669697
#   Actual altitude:          57.669697
#   Commanded vehicle depth:  261.814786 
#   Seafloor depth:           -312.418999
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.30;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 83
#   Segment length 164.167762 meters
#   Minimum depth: 313.092468 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.550705 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 263.092468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783528;
longitude = -122.058128;
duration = 328;
# abortOnTimeout    = True; 
initialDepth = 246.223618;
finalDepth = 263.092468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.604213
#   Actual altitude:          50.604213
#   Commanded vehicle depth:  263.092468 
#   Seafloor depth:           -313.092468
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 83
#   Segment length 103.190761 meters
#   Minimum depth: 296.223618 meters looking forward 100.000000 meters along route
#   Maximum depth: 321.033685 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 246.223618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784505;
longitude = -122.059509;
duration = 206;
initialDepth = 243.606277;
finalDepth = 246.223618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.810067
#   Actual altitude:          74.810067
#   Commanded vehicle depth:  246.223618 
#   Seafloor depth:           -321.033685
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 83
#   Segment length 100.964654 meters
#   Minimum depth: 293.606277 meters looking forward 100.000000 meters along route
#   Maximum depth: 305.574101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 243.606277 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785120;
longitude = -122.060377;
duration = 201;
initialDepth = 227.910562;
finalDepth = 243.606277;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       74.810067
#   Actual altitude:          74.810067
#   Commanded vehicle depth:  243.606277 
#   Seafloor depth:           -295.054167
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.44;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 82
#   Segment length 153.992541 meters
#   Minimum depth: 277.910562 meters looking forward 100.000000 meters along route
#   Maximum depth: 305.484085 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 227.910562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785721;
longitude = -122.061227;
duration = 307;
# abortOnTimeout    = True; 
initialDepth = 219.744187;
finalDepth = 227.910562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.573523
#   Actual altitude:          77.573523
#   Commanded vehicle depth:  227.910562 
#   Seafloor depth:           -305.484085
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.27;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 103.972387 meters
#   Minimum depth: 269.744187 meters looking forward 100.000000 meters along route
#   Maximum depth: 282.626689 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 219.744187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786922;
longitude = -122.062092;
duration = 207;
initialDepth = 209.783673;
finalDepth = 219.744187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.573523
#   Actual altitude:          77.573523
#   Commanded vehicle depth:  219.744187 
#   Seafloor depth:           -277.760125
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.27;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 103.972112 meters
#   Minimum depth: 259.783673 meters looking forward 100.000000 meters along route
#   Maximum depth: 280.399742 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 209.783673 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787733;
longitude = -122.062675;
duration = 207;
initialDepth = 230.669346;
finalDepth = 209.783673;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.267428
#   Actual altitude:          61.267428
#   Commanded vehicle depth:  209.783673 
#   Seafloor depth:           -271.051101
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.38;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 103.971835 meters
#   Minimum depth: 280.669346 meters looking forward 100.000000 meters along route
#   Maximum depth: 289.572925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 230.669346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788545;
longitude = -122.063259;
duration = 207;
initialDepth = 239.329625;
finalDepth = 230.669346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.267428
#   Actual altitude:          61.267428
#   Commanded vehicle depth:  230.669346 
#   Seafloor depth:           -280.858970
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.38;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 106.137185 meters
#   Minimum depth: 289.329625 meters looking forward 100.000000 meters along route
#   Maximum depth: 313.833057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 239.329625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789356;
longitude = -122.063843;
duration = 212;
initialDepth = 225.864631;
finalDepth = 239.329625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.158531
#   Actual altitude:          55.158531
#   Commanded vehicle depth:  239.329625 
#   Seafloor depth:           -294.488156
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 101.805659 meters
#   Minimum depth: 275.864631 meters looking forward 100.000000 meters along route
#   Maximum depth: 290.598791 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 225.864631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790184;
longitude = -122.064439;
duration = 203;
initialDepth = 227.659145;
finalDepth = 225.864631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.877292
#   Actual altitude:          63.877292
#   Commanded vehicle depth:  225.864631 
#   Seafloor depth:           -289.741923
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.16;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 103.971009 meters
#   Minimum depth: 277.659145 meters looking forward 100.000000 meters along route
#   Maximum depth: 297.043532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 227.659145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790978;
longitude = -122.065010;
duration = 207;
initialDepth = 248.496241;
finalDepth = 227.659145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.877292
#   Actual altitude:          63.877292
#   Commanded vehicle depth:  227.659145 
#   Seafloor depth:           -277.659145
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.16;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 100.105813 meters
#   Minimum depth: 298.496241 meters looking forward 100.000000 meters along route
#   Maximum depth: 310.291119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 248.496241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791789;
longitude = -122.065594;
duration = 200;
initialDepth = 255.444447;
finalDepth = 248.496241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  248.496241 
#   Seafloor depth:           -298.496241
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 81
#   Segment length 129.420996 meters
#   Minimum depth: 305.444447 meters looking forward 100.000000 meters along route
#   Maximum depth: 346.437912 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 255.444447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792570;
longitude = -122.066156;
duration = 258;
# abortOnTimeout    = True; 
initialDepth = 271.885355;
finalDepth = 255.444447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.6609759999999
#   Actual altitude:          55.6609759999999
#   Commanded vehicle depth:  255.444447 
#   Seafloor depth:           -311.105423
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.70;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 81
#   Segment length 102.764099 meters
#   Minimum depth: 321.885355 meters looking forward 100.000000 meters along route
#   Maximum depth: 366.330832 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 271.885355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793592;
longitude = -122.066857;
duration = 205;
initialDepth = 245.592479;
finalDepth = 271.885355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.27136
#   Actual altitude:          82.27136
#   Commanded vehicle depth:  271.885355 
#   Seafloor depth:           -354.156715
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.68;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 81
#   Segment length 102.763848 meters
#   Minimum depth: 295.592479 meters looking forward 100.000000 meters along route
#   Maximum depth: 323.903641 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 245.592479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794403;
longitude = -122.067413;
duration = 205;
initialDepth = 277.283352;
finalDepth = 245.592479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.27136
#   Actual altitude:          82.27136
#   Commanded vehicle depth:  245.592479 
#   Seafloor depth:           -313.620986
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.68;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 81
#   Segment length 106.581198 meters
#   Minimum depth: 327.283352 meters looking forward 100.000000 meters along route
#   Maximum depth: 379.914336 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 277.283352 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795214;
longitude = -122.067969;
duration = 213;
initialDepth = 216.030024;
finalDepth = 277.283352;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       68.028507
#   Actual altitude:          68.028507
#   Commanded vehicle depth:  277.283352 
#   Seafloor depth:           -327.283352
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.41;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 80
#   Segment length 167.721551 meters
#   Minimum depth: 266.030024 meters looking forward 100.000000 meters along route
#   Maximum depth: 373.464752 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 216.030024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796055;
longitude = -122.068546;
duration = 335;
# abortOnTimeout    = True; 
initialDepth = 202.152232;
finalDepth = 216.030024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       157.434728
#   Actual altitude:          100
#   Commanded vehicle depth:  216.030024 
#   Seafloor depth:           -373.464752
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 100.581184 meters
#   Minimum depth: 252.152232 meters looking forward 100.000000 meters along route
#   Maximum depth: 284.830343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 202.152232 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797367;
longitude = -122.069480;
duration = 201;
initialDepth = 239.738441;
finalDepth = 202.152232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       157.434728
#   Actual altitude:          100
#   Commanded vehicle depth:  202.152232 
#   Seafloor depth:           -259.527372
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 100.580929 meters
#   Minimum depth: 289.738441 meters looking forward 100.000000 meters along route
#   Maximum depth: 344.832251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 239.738441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798154;
longitude = -122.070040;
duration = 201;
initialDepth = 270.632871;
finalDepth = 239.738441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.37514
#   Actual altitude:          57.37514
#   Commanded vehicle depth:  239.738441 
#   Seafloor depth:           -289.738441
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.21;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 107.305915 meters
#   Minimum depth: 320.632871 meters looking forward 100.000000 meters along route
#   Maximum depth: 361.286242 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 270.632871 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798941;
longitude = -122.070600;
duration = 214;
initialDepth = 222.260989;
finalDepth = 270.632871;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       77.438785
#   Actual altitude:          77.438785
#   Commanded vehicle depth:  270.632871 
#   Seafloor depth:           -348.071656
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.23;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 79
#   Segment length 80.852833 meters
#   Minimum depth: 272.260989 meters looking forward 100.000000 meters along route
#   Maximum depth: 321.180350 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 222.260989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799780;
longitude = -122.071198;
duration = 161;
# abortOnTimeout    = True; 
initialDepth = 208.605192;
finalDepth = 222.260989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.368123
#   Actual altitude:          98.368123
#   Commanded vehicle depth:  222.260989 
#   Seafloor depth:           -320.629112
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.51;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 104.606459 meters
#   Minimum depth: 258.605192 meters looking forward 100.000000 meters along route
#   Maximum depth: 280.132546 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.605192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800171;
longitude = -122.071963;
duration = 209;
initialDepth = 210.880743;
finalDepth = 208.605192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.368123
#   Actual altitude:          98.368123
#   Commanded vehicle depth:  208.605192 
#   Seafloor depth:           -275.512598
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.51;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 106.546442 meters
#   Minimum depth: 260.880743 meters looking forward 100.000000 meters along route
#   Maximum depth: 294.573432 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 210.880743 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800676;
longitude = -122.072953;
duration = 213;
initialDepth = 233.443693;
finalDepth = 210.880743;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.907406
#   Actual altitude:          66.907406
#   Commanded vehicle depth:  210.880743 
#   Seafloor depth:           -260.880743
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.07;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 106.545918 meters
#   Minimum depth: 283.443693 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.041335 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 233.443693 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801191;
longitude = -122.073961;
duration = 213;
initialDepth = 208.883670;
finalDepth = 233.443693;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.011875
#   Actual altitude:          63.011875
#   Commanded vehicle depth:  233.443693 
#   Seafloor depth:           -296.455568
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.90;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 111.396157 meters
#   Minimum depth: 258.883670 meters looking forward 100.000000 meters along route
#   Maximum depth: 282.807009 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.883670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801705;
longitude = -122.074970;
duration = 222;
initialDepth = 210.257588;
finalDepth = 208.883670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.923339
#   Actual altitude:          73.923339
#   Commanded vehicle depth:  208.88367 
#   Seafloor depth:           -282.807009
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.18;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 105.690144 meters
#   Minimum depth: 260.257588 meters looking forward 100.000000 meters along route
#   Maximum depth: 305.244917 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 210.257588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802243;
longitude = -122.076024;
duration = 211;
initialDepth = 240.363346;
finalDepth = 210.257588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       73.923339
#   Actual altitude:          73.923339
#   Commanded vehicle depth:  210.257588 
#   Seafloor depth:           -260.257588
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.18;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 78
#   Segment length 109.844494 meters
#   Minimum depth: 290.363346 meters looking forward 100.000000 meters along route
#   Maximum depth: 316.387272 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 240.363346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802754;
longitude = -122.077024;
duration = 219;
# abortOnTimeout    = True; 
initialDepth = 245.792121;
finalDepth = 240.363346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.928684
#   Actual altitude:          64.928684
#   Commanded vehicle depth:  240.363346 
#   Seafloor depth:           -305.292030
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 101.443808 meters
#   Minimum depth: 295.792121 meters looking forward 100.000000 meters along route
#   Maximum depth: 316.255306 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 245.792121 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803363;
longitude = -122.077994;
duration = 202;
initialDepth = 261.045239;
finalDepth = 245.792121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.463185
#   Actual altitude:          70.463185
#   Commanded vehicle depth:  245.792121 
#   Seafloor depth:           -316.255306
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 102.818658 meters
#   Minimum depth: 311.045239 meters looking forward 100.000000 meters along route
#   Maximum depth: 336.000924 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 261.045239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803926;
longitude = -122.078891;
duration = 205;
initialDepth = 286.219239;
finalDepth = 261.045239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.463185
#   Actual altitude:          70.463185
#   Commanded vehicle depth:  261.045239 
#   Seafloor depth:           -311.045239
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.067536 meters
#   Minimum depth: 336.219239 meters looking forward 100.000000 meters along route
#   Maximum depth: 344.174053 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 286.219239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804497;
longitude = -122.079799;
duration = 200;
initialDepth = 269.276339;
finalDepth = 286.219239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  286.219239 
#   Seafloor depth:           -336.219239
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 105.689647 meters
#   Minimum depth: 319.276339 meters looking forward 100.000000 meters along route
#   Maximum depth: 336.697768 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 269.276339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805052;
longitude = -122.080683;
duration = 211;
initialDepth = 272.819763;
finalDepth = 269.276339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.421429
#   Actual altitude:          67.421429
#   Commanded vehicle depth:  269.276339 
#   Seafloor depth:           -336.697768
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.23;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 77
#   Segment length 145.108715 meters
#   Minimum depth: 322.819763 meters looking forward 100.000000 meters along route
#   Maximum depth: 364.618358 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 272.819763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805638;
longitude = -122.081617;
duration = 290;
# abortOnTimeout    = True; 
initialDepth = 280.554798;
finalDepth = 272.819763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.421429
#   Actual altitude:          67.421429
#   Commanded vehicle depth:  272.819763 
#   Seafloor depth:           -322.819763
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.23;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 100.475299 meters
#   Minimum depth: 330.554798 meters looking forward 100.000000 meters along route
#   Maximum depth: 361.803957 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 280.554798 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804677;
longitude = -122.082720;
duration = 200;
initialDepth = 246.911818;
finalDepth = 280.554798;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.249159
#   Actual altitude:          81.249159
#   Commanded vehicle depth:  280.554798 
#   Seafloor depth:           -361.803957
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.37;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 108.124097 meters
#   Minimum depth: 296.911818 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.908111 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 246.911818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804011;
longitude = -122.083484;
duration = 216;
initialDepth = 243.426254;
finalDepth = 246.911818;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       82.996293
#   Actual altitude:          82.996293
#   Commanded vehicle depth:  246.911818 
#   Seafloor depth:           -329.908111
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.90;
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;
}
# 
#######################################################
# 
# 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 76
#   Segment length 92.997231 meters
#   Minimum depth: 293.426254 meters looking forward 100.000000 meters along route
#   Maximum depth: 333.947723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 243.426254 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803295;
longitude = -122.084306;
duration = 185;
# abortOnTimeout    = True; 
initialDepth = 284.514471;
finalDepth = 243.426254;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.996293
#   Actual altitude:          82.996293
#   Commanded vehicle depth:  243.426254 
#   Seafloor depth:           -293.426254
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.90;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 100.092988 meters
#   Minimum depth: 334.514471 meters looking forward 100.000000 meters along route
#   Maximum depth: 381.013952 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 284.514471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802514;
longitude = -122.083928;
duration = 200;
initialDepth = 326.705282;
finalDepth = 284.514471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  284.514471 
#   Seafloor depth:           -334.514471
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 75
#   Segment length 83.658636 meters
#   Minimum depth: 376.705282 meters looking forward 100.000000 meters along route
#   Maximum depth: 388.278328 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 326.705282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801673;
longitude = -122.083521;
duration = 167;
# abortOnTimeout    = True; 
initialDepth = 338.256903;
finalDepth = 326.705282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.731585
#   Actual altitude:          57.731585
#   Commanded vehicle depth:  326.705282 
#   Seafloor depth:           -384.436867
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.32;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 109.866746 meters
#   Minimum depth: 388.256903 meters looking forward 100.000000 meters along route
#   Maximum depth: 415.814783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 338.256903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802254;
longitude = -122.082924;
duration = 219;
initialDepth = 351.652967;
finalDepth = 338.256903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.731585
#   Actual altitude:          57.731585
#   Commanded vehicle depth:  338.256903 
#   Seafloor depth:           -388.401075
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 104.600400 meters
#   Minimum depth: 401.652967 meters looking forward 100.000000 meters along route
#   Maximum depth: 417.007142 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 351.652967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803018;
longitude = -122.082140;
duration = 209;
initialDepth = 349.262872;
finalDepth = 351.652967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.045897
#   Actual altitude:          65.045897
#   Commanded vehicle depth:  351.652967 
#   Seafloor depth:           -416.698864
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.51;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 74
#   Segment length 86.102909 meters
#   Minimum depth: 399.262872 meters looking forward 100.000000 meters along route
#   Maximum depth: 405.743925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 349.262872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803745;
longitude = -122.081393;
duration = 172;
# abortOnTimeout    = True; 
initialDepth = 354.238903;
finalDepth = 349.262872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.045897
#   Actual altitude:          65.045897
#   Commanded vehicle depth:  349.262872 
#   Seafloor depth:           -399.534721
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.51;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 100.710087 meters
#   Minimum depth: 404.238903 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.342044 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 354.238903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803219;
longitude = -122.080683;
duration = 201;
initialDepth = 348.431758;
finalDepth = 354.238903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.745293
#   Actual altitude:          52.745293
#   Commanded vehicle depth:  354.238903 
#   Seafloor depth:           -406.984196
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 103.284513 meters
#   Minimum depth: 398.431758 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.279862 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 348.431758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802604;
longitude = -122.079853;
duration = 206;
initialDepth = 352.748857;
finalDepth = 348.431758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.659934
#   Actual altitude:          57.659934
#   Commanded vehicle depth:  348.431758 
#   Seafloor depth:           -406.091692
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.30;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 113.139095 meters
#   Minimum depth: 402.748857 meters looking forward 100.000000 meters along route
#   Maximum depth: 408.740320 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 352.748857 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801973;
longitude = -122.079002;
duration = 226;
initialDepth = 316.317838;
finalDepth = 352.748857;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.659934
#   Actual altitude:          57.659934
#   Commanded vehicle depth:  352.748857 
#   Seafloor depth:           -402.748857
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.30;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 73
#   Segment length 155.763755 meters
#   Minimum depth: 366.317838 meters looking forward 100.000000 meters along route
#   Maximum depth: 401.203156 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 316.317838 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801282;
longitude = -122.078069;
duration = 311;
# abortOnTimeout    = True; 
initialDepth = 322.070291;
finalDepth = 316.317838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.885318
#   Actual altitude:          84.885318
#   Commanded vehicle depth:  316.317838 
#   Seafloor depth:           -401.203156
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.47;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 73
#   Segment length 100.511715 meters
#   Minimum depth: 372.070291 meters looking forward 100.000000 meters along route
#   Maximum depth: 383.953295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 322.070291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800531;
longitude = -122.076594;
duration = 201;
initialDepth = 335.667398;
finalDepth = 322.070291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.885318
#   Actual altitude:          84.885318
#   Commanded vehicle depth:  322.070291 
#   Seafloor depth:           -372.070291
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 73
#   Segment length 106.460564 meters
#   Minimum depth: 385.667398 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.394459 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.667398 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800047;
longitude = -122.075642;
duration = 212;
initialDepth = 322.245013;
finalDepth = 335.667398;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.629705
#   Actual altitude:          52.629705
#   Commanded vehicle depth:  335.667398 
#   Seafloor depth:           -388.297103
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 73
#   Segment length 110.834298 meters
#   Minimum depth: 372.245013 meters looking forward 100.000000 meters along route
#   Maximum depth: 387.134744 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 322.245013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799533;
longitude = -122.074634;
duration = 221;
initialDepth = 324.100220;
finalDepth = 322.245013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.889731
#   Actual altitude:          64.889731
#   Commanded vehicle depth:  322.245013 
#   Seafloor depth:           -387.134744
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 73
#   Segment length 105.990379 meters
#   Minimum depth: 374.100220 meters looking forward 100.000000 meters along route
#   Maximum depth: 415.010251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 324.100220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798999;
longitude = -122.073584;
duration = 211;
initialDepth = 365.010251;
finalDepth = 324.100220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.889731
#   Actual altitude:          64.889731
#   Commanded vehicle depth:  324.10022 
#   Seafloor depth:           -377.971499
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.47;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 72
#   Segment length 92.602973 meters
#   Minimum depth: 415.010251 meters looking forward 100.000000 meters along route
#   Maximum depth: 432.878173 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 365.010251 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798488;
longitude = -122.072580;
duration = 185;
# abortOnTimeout    = True; 
initialDepth = 290.486511;
finalDepth = 365.010251;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.871279
#   Actual altitude:          53.871279
#   Commanded vehicle depth:  365.010251 
#   Seafloor depth:           -415.536644
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.16;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 100.045963 meters
#   Minimum depth: 340.486511 meters looking forward 100.000000 meters along route
#   Maximum depth: 405.630537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 290.486511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797737;
longitude = -122.072126;
duration = 200;
initialDepth = 283.598114;
finalDepth = 290.486511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       115.144026
#   Actual altitude:          100
#   Commanded vehicle depth:  290.486511 
#   Seafloor depth:           -405.630537
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 100.046162 meters
#   Minimum depth: 333.598114 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.415736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 283.598114 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796926;
longitude = -122.071636;
duration = 200;
initialDepth = 305.987197;
finalDepth = 283.598114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       115.144026
#   Actual altitude:          100
#   Commanded vehicle depth:  283.598114 
#   Seafloor depth:           -339.717296
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 103.731229 meters
#   Minimum depth: 355.987197 meters looking forward 100.000000 meters along route
#   Maximum depth: 439.215791 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 305.987197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796115;
longitude = -122.071146;
duration = 207;
initialDepth = 355.912009;
finalDepth = 305.987197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       56.119182
#   Actual altitude:          56.119182
#   Commanded vehicle depth:  305.987197 
#   Seafloor depth:           -355.987197
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.84;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 71
#   Segment length 170.669332 meters
#   Minimum depth: 405.912009 meters looking forward 100.000000 meters along route
#   Maximum depth: 456.971888 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 355.912009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795274;
longitude = -122.070638;
duration = 341;
# abortOnTimeout    = True; 
initialDepth = 354.467552;
finalDepth = 355.912009;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.482927
#   Actual altitude:          93.482927
#   Commanded vehicle depth:  355.912009 
#   Seafloor depth:           -449.394936
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.04;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 71
#   Segment length 104.716086 meters
#   Minimum depth: 404.467552 meters looking forward 100.000000 meters along route
#   Maximum depth: 418.770521 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 354.467552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793952;
longitude = -122.069660;
duration = 209;
initialDepth = 369.968393;
finalDepth = 354.467552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.482927
#   Actual altitude:          93.482927
#   Commanded vehicle depth:  354.467552 
#   Seafloor depth:           -407.266463
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 71
#   Segment length 104.716376 meters
#   Minimum depth: 419.968393 meters looking forward 100.000000 meters along route
#   Maximum depth: 459.378251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 369.968393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793141;
longitude = -122.069059;
duration = 209;
initialDepth = 350.062459;
finalDepth = 369.968393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.798911
#   Actual altitude:          52.798911
#   Commanded vehicle depth:  369.968393 
#   Seafloor depth:           -419.968393
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 71
#   Segment length 108.546173 meters
#   Minimum depth: 400.062459 meters looking forward 100.000000 meters along route
#   Maximum depth: 428.088883 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 350.062459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792330;
longitude = -122.068459;
duration = 217;
initialDepth = 344.139624;
finalDepth = 350.062459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       78.026424
#   Actual altitude:          78.026424
#   Commanded vehicle depth:  350.062459 
#   Seafloor depth:           -428.088883
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.41;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 70
#   Segment length 167.483330 meters
#   Minimum depth: 394.139624 meters looking forward 100.000000 meters along route
#   Maximum depth: 403.427576 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 344.139624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791489;
longitude = -122.067837;
duration = 334;
# abortOnTimeout    = True; 
initialDepth = 346.706392;
finalDepth = 344.139624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.026424
#   Actual altitude:          78.026424
#   Commanded vehicle depth:  344.139624 
#   Seafloor depth:           -401.059380
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.41;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 102.744756 meters
#   Minimum depth: 396.706392 meters looking forward 100.000000 meters along route
#   Maximum depth: 439.842350 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 346.706392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790167;
longitude = -122.066931;
duration = 205;
initialDepth = 384.084129;
finalDepth = 346.706392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.9197559999999
#   Actual altitude:          56.9197559999999
#   Commanded vehicle depth:  346.706392 
#   Seafloor depth:           -398.919309
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 102.745008 meters
#   Minimum depth: 434.084129 meters looking forward 100.000000 meters along route
#   Maximum depth: 451.538754 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 384.084129 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789356;
longitude = -122.066375;
duration = 205;
initialDepth = 376.175494;
finalDepth = 384.084129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.386226
#   Actual altitude:          57.386226
#   Commanded vehicle depth:  384.084129 
#   Seafloor depth:           -441.470355
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 102.745260 meters
#   Minimum depth: 426.175494 meters looking forward 100.000000 meters along route
#   Maximum depth: 441.925985 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 376.175494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788545;
longitude = -122.065819;
duration = 205;
initialDepth = 343.839370;
finalDepth = 376.175494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.386226
#   Actual altitude:          57.386226
#   Commanded vehicle depth:  376.175494 
#   Seafloor depth:           -428.930695
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 102.745512 meters
#   Minimum depth: 393.839370 meters looking forward 100.000000 meters along route
#   Maximum depth: 428.441522 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 343.839370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787733;
longitude = -122.065264;
duration = 205;
initialDepth = 319.281793;
finalDepth = 343.839370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.40602
#   Actual altitude:          83.40602
#   Commanded vehicle depth:  343.83937 
#   Seafloor depth:           -427.245390
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 102.745765 meters
#   Minimum depth: 369.281793 meters looking forward 100.000000 meters along route
#   Maximum depth: 390.162287 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 319.281793 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786922;
longitude = -122.064708;
duration = 205;
initialDepth = 330.630827;
finalDepth = 319.281793;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.40602
#   Actual altitude:          83.40602
#   Commanded vehicle depth:  319.281793 
#   Seafloor depth:           -388.513170
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 102.746016 meters
#   Minimum depth: 380.630827 meters looking forward 100.000000 meters along route
#   Maximum depth: 390.968608 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 330.630827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786111;
longitude = -122.064152;
duration = 205;
initialDepth = 332.589080;
finalDepth = 330.630827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.231377
#   Actual altitude:          69.231377
#   Commanded vehicle depth:  330.630827 
#   Seafloor depth:           -380.630827
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 106.544315 meters
#   Minimum depth: 382.589080 meters looking forward 100.000000 meters along route
#   Maximum depth: 414.434612 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 332.589080 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785300;
longitude = -122.063596;
duration = 213;
initialDepth = 346.698292;
finalDepth = 332.589080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  332.58908 
#   Seafloor depth:           -382.589080
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 69
#   Segment length 110.093238 meters
#   Minimum depth: 396.698292 meters looking forward 100.000000 meters along route
#   Maximum depth: 416.588669 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 346.698292 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784459;
longitude = -122.063020;
duration = 220;
# abortOnTimeout    = True; 
initialDepth = 344.209687;
finalDepth = 346.698292;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.890377
#   Actual altitude:          69.890377
#   Commanded vehicle depth:  346.698292 
#   Seafloor depth:           -416.588669
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.97;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 105.643609 meters
#   Minimum depth: 394.209687 meters looking forward 100.000000 meters along route
#   Maximum depth: 405.989481 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 344.209687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783811;
longitude = -122.062086;
duration = 211;
initialDepth = 352.318772;
finalDepth = 344.209687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.890377
#   Actual altitude:          69.890377
#   Commanded vehicle depth:  344.209687 
#   Seafloor depth:           -395.019610
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.97;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 100.532521 meters
#   Minimum depth: 402.318772 meters looking forward 100.000000 meters along route
#   Maximum depth: 408.012010 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 352.318772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783188;
longitude = -122.061190;
duration = 201;
initialDepth = 352.670596;
finalDepth = 352.318772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.809923
#   Actual altitude:          50.809923
#   Commanded vehicle depth:  352.318772 
#   Seafloor depth:           -402.318772
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.24;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 101.943703 meters
#   Minimum depth: 402.670596 meters looking forward 100.000000 meters along route
#   Maximum depth: 406.481149 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 352.670596 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782596;
longitude = -122.060337;
duration = 203;
initialDepth = 352.089706;
finalDepth = 352.670596;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.149151
#   Actual altitude:          51.149151
#   Commanded vehicle depth:  352.670596 
#   Seafloor depth:           -403.819747
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 68
#   Segment length 104.957470 meters
#   Minimum depth: 402.089706 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.253675 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 352.089706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781996;
longitude = -122.059472;
duration = 209;
# abortOnTimeout    = True; 
initialDepth = 357.177163;
finalDepth = 352.089706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.149151
#   Actual altitude:          51.149151
#   Commanded vehicle depth:  352.089706 
#   Seafloor depth:           -402.089706
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.155074 meters
#   Minimum depth: 407.177163 meters looking forward 100.000000 meters along route
#   Maximum depth: 411.175649 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 357.177163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781154;
longitude = -122.058935;
duration = 202;
initialDepth = 355.710663;
finalDepth = 357.177163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.058215
#   Actual altitude:          51.058215
#   Commanded vehicle depth:  357.177163 
#   Seafloor depth:           -408.235378
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.155295 meters
#   Minimum depth: 405.710663 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.114054 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 355.710663 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780343;
longitude = -122.058417;
duration = 202;
initialDepth = 357.496485;
finalDepth = 355.710663;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.800002
#   Actual altitude:          53.800002
#   Commanded vehicle depth:  355.710663 
#   Seafloor depth:           -409.510665
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 108.643318 meters
#   Minimum depth: 407.496485 meters looking forward 100.000000 meters along route
#   Maximum depth: 414.981274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 357.496485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779532;
longitude = -122.057899;
duration = 217;
initialDepth = 355.170914;
finalDepth = 357.496485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.075997
#   Actual altitude:          55.075997
#   Commanded vehicle depth:  357.496485 
#   Seafloor depth:           -412.572482
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.52;
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;
}
# 
#######################################################
# 
# 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 67
#   Segment length 116.222468 meters
#   Minimum depth: 405.170914 meters looking forward 100.000000 meters along route
#   Maximum depth: 434.195610 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 355.170914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778661;
longitude = -122.057343;
duration = 232;
# abortOnTimeout    = True; 
initialDepth = 384.829974;
finalDepth = 355.170914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.075997
#   Actual altitude:          55.075997
#   Commanded vehicle depth:  355.170914 
#   Seafloor depth:           -405.170914
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.52;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 102.417679 meters
#   Minimum depth: 434.829974 meters looking forward 100.000000 meters along route
#   Maximum depth: 462.742857 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 384.829974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777783;
longitude = -122.058053;
duration = 204;
initialDepth = 416.167360;
finalDepth = 384.829974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  384.829974 
#   Seafloor depth:           -434.829974
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.330197 meters
#   Minimum depth: 466.167360 meters looking forward 100.000000 meters along route
#   Maximum depth: 498.839982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 416.167360 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777009;
longitude = -122.058678;
duration = 214;
initialDepth = 449.552135;
finalDepth = 416.167360;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  416.16736 
#   Seafloor depth:           -466.167360
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 102.075725 meters
#   Minimum depth: 499.552135 meters looking forward 100.000000 meters along route
#   Maximum depth: 528.477916 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 449.552135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776198;
longitude = -122.059334;
duration = 204;
initialDepth = 479.459334;
finalDepth = 449.552135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  449.552135 
#   Seafloor depth:           -499.552135
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 100.659946 meters
#   Minimum depth: 529.459334 meters looking forward 100.000000 meters along route
#   Maximum depth: 554.398234 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 479.459334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775426;
longitude = -122.059957;
duration = 201;
initialDepth = 507.030340;
finalDepth = 479.459334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  479.459334 
#   Seafloor depth:           -529.459334
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.109673 meters
#   Minimum depth: 557.030340 meters looking forward 100.000000 meters along route
#   Maximum depth: 580.390304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 507.030340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774665;
longitude = -122.060572;
duration = 202;
initialDepth = 530.878067;
finalDepth = 507.030340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.658562
#   Actual altitude:          50.658562
#   Commanded vehicle depth:  507.03034 
#   Seafloor depth:           -557.688902
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.627115 meters
#   Minimum depth: 580.878067 meters looking forward 100.000000 meters along route
#   Maximum depth: 600.033530 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 530.878067 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773901;
longitude = -122.061190;
duration = 203;
initialDepth = 551.786921;
finalDepth = 530.878067;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.658562
#   Actual altitude:          50.658562
#   Commanded vehicle depth:  530.878067 
#   Seafloor depth:           -580.878067
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 100.143611 meters
#   Minimum depth: 601.786921 meters looking forward 100.000000 meters along route
#   Maximum depth: 617.657097 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 551.786921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773133;
longitude = -122.061810;
duration = 200;
initialDepth = 569.831580;
finalDepth = 551.786921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  551.786921 
#   Seafloor depth:           -601.786921
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 102.594292 meters
#   Minimum depth: 619.831580 meters looking forward 100.000000 meters along route
#   Maximum depth: 638.055341 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 569.831580 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772377;
longitude = -122.062422;
duration = 205;
initialDepth = 590.571858;
finalDepth = 569.831580;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  569.83158 
#   Seafloor depth:           -619.831580
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.332284 meters
#   Minimum depth: 640.571858 meters looking forward 100.000000 meters along route
#   Maximum depth: 659.195910 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 590.571858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771601;
longitude = -122.063049;
duration = 214;
initialDepth = 610.813684;
finalDepth = 590.571858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  590.571858 
#   Seafloor depth:           -640.571858
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.903083 meters
#   Minimum depth: 660.813684 meters looking forward 100.000000 meters along route
#   Maximum depth: 685.830562 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.813684 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770790;
longitude = -122.063704;
duration = 203;
initialDepth = 638.582979;
finalDepth = 610.813684;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  610.813684 
#   Seafloor depth:           -660.813684
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 100.836528 meters
#   Minimum depth: 688.582979 meters looking forward 100.000000 meters along route
#   Maximum depth: 705.022753 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 638.582979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770020;
longitude = -122.064327;
duration = 201;
initialDepth = 664.880225;
finalDepth = 638.582979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  638.582979 
#   Seafloor depth:           -688.582979
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 100.937012 meters
#   Minimum depth: 714.880225 meters looking forward 100.000000 meters along route
#   Maximum depth: 740.522479 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 664.880225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769258;
longitude = -122.064942;
duration = 201;
initialDepth = 689.377851;
finalDepth = 664.880225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  664.880225 
#   Seafloor depth:           -714.880225
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.803716 meters
#   Minimum depth: 739.377851 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.578557 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 689.377851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768495;
longitude = -122.065559;
duration = 203;
initialDepth = 721.760247;
finalDepth = 689.377851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  689.377851 
#   Seafloor depth:           -739.377851
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.333778 meters
#   Minimum depth: 771.760247 meters looking forward 100.000000 meters along route
#   Maximum depth: 800.170821 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 721.760247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767726;
longitude = -122.066181;
duration = 214;
initialDepth = 751.294979;
finalDepth = 721.760247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  721.760247 
#   Seafloor depth:           -771.760247
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 102.696516 meters
#   Minimum depth: 801.294979 meters looking forward 100.000000 meters along route
#   Maximum depth: 824.917703 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 751.294979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766915;
longitude = -122.066836;
duration = 205;
initialDepth = 776.619421;
finalDepth = 751.294979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  751.294979 
#   Seafloor depth:           -801.294979
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 100.045919 meters
#   Minimum depth: 826.619421 meters looking forward 100.000000 meters along route
#   Maximum depth: 840.073588 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 776.619421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766139;
longitude = -122.067464;
duration = 200;
initialDepth = 792.927216;
finalDepth = 776.619421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  776.619421 
#   Seafloor depth:           -826.619421
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.730436 meters
#   Minimum depth: 842.927216 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.423752 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.927216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765383;
longitude = -122.068075;
duration = 203;
initialDepth = 821.215073;
finalDepth = 792.927216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  792.927216 
#   Seafloor depth:           -842.927216
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.013116 meters
#   Minimum depth: 871.215073 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.688151 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.215073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764614;
longitude = -122.068696;
duration = 202;
initialDepth = 856.350327;
finalDepth = 821.215073;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  821.215073 
#   Seafloor depth:           -871.215073
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 100.764345 meters
#   Minimum depth: 906.350327 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.488923 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 856.350327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763851;
longitude = -122.069313;
duration = 201;
initialDepth = 886.837782;
finalDepth = 856.350327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  856.350327 
#   Seafloor depth:           -906.350327
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.980323 meters
#   Minimum depth: 936.837782 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.022883 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 886.837782 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763089;
longitude = -122.069928;
duration = 203;
initialDepth = 900.693531;
finalDepth = 886.837782;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  886.837782 
#   Seafloor depth:           -936.837782
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.335865 meters
#   Minimum depth: 950.693531 meters looking forward 100.000000 meters along route
#   Maximum depth: 984.308095 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.693531 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762318;
longitude = -122.070551;
duration = 214;
initialDepth = 927.914230;
finalDepth = 900.693531;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.833769
#   Actual altitude:          50.833769
#   Commanded vehicle depth:  900.693531 
#   Seafloor depth:           -951.527300
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.336177 meters
#   Minimum depth: 977.914230 meters looking forward 100.000000 meters along route
#   Maximum depth: 983.459864 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 927.914230 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761507;
longitude = -122.071207;
duration = 214;
initialDepth = 928.666394;
finalDepth = 927.914230;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.825242
#   Actual altitude:          54.825242
#   Commanded vehicle depth:  927.91423 
#   Seafloor depth:           -982.739472
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.45;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 111.320319 meters
#   Minimum depth: 978.666394 meters looking forward 100.000000 meters along route
#   Maximum depth: 994.016830 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 928.666394 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760696;
longitude = -122.071862;
duration = 222;
initialDepth = 944.143216;
finalDepth = 928.666394;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.825242
#   Actual altitude:          54.825242
#   Commanded vehicle depth:  928.666394 
#   Seafloor depth:           -978.666394
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.45;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 66
#   Segment length 108.277346 meters
#   Minimum depth: 994.143216 meters looking forward 100.000000 meters along route
#   Maximum depth: 1003.908181 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 944.143216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759855;
longitude = -122.072542;
duration = 216;
# abortOnTimeout    = True; 
initialDepth = 953.010913;
finalDepth = 944.143216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7574649999999
#   Actual altitude:          51.7574649999999
#   Commanded vehicle depth:  944.143216 
#   Seafloor depth:           -995.900681
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.785486 meters
#   Minimum depth: 1003.010913 meters looking forward 100.000000 meters along route
#   Maximum depth: 1018.256839 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 953.010913 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759416;
longitude = -122.073625;
duration = 201;
initialDepth = 961.763353;
finalDepth = 953.010913;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1671680000001
#   Actual altitude:          52.1671680000001
#   Commanded vehicle depth:  953.010913 
#   Seafloor depth:           -1005.178081
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.785893 meters
#   Minimum depth: 1011.763353 meters looking forward 100.000000 meters along route
#   Maximum depth: 1038.463118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 961.763353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759007;
longitude = -122.074634;
duration = 201;
initialDepth = 987.793512;
finalDepth = 961.763353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1671680000001
#   Actual altitude:          52.1671680000001
#   Commanded vehicle depth:  961.763353 
#   Seafloor depth:           -1011.763353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.786299 meters
#   Minimum depth: 1037.793512 meters looking forward 100.000000 meters along route
#   Maximum depth: 1074.494123 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 987.793512 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758598;
longitude = -122.075642;
duration = 201;
initialDepth = 1013.450264;
finalDepth = 987.793512;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  987.793512 
#   Seafloor depth:           -1037.793512
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.786707 meters
#   Minimum depth: 1063.450264 meters looking forward 100.000000 meters along route
#   Maximum depth: 1068.481342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1013.450264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758189;
longitude = -122.076650;
duration = 201;
initialDepth = 1016.129672;
finalDepth = 1013.450264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.077818
#   Actual altitude:          52.077818
#   Commanded vehicle depth:  1013.450264 
#   Seafloor depth:           -1065.528082
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.787113 meters
#   Minimum depth: 1066.129672 meters looking forward 100.000000 meters along route
#   Maximum depth: 1073.054615 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1016.129672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757780;
longitude = -122.077658;
duration = 201;
initialDepth = 1024.434728;
finalDepth = 1016.129672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.077818
#   Actual altitude:          52.077818
#   Commanded vehicle depth:  1016.129672 
#   Seafloor depth:           -1066.910183
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.787519 meters
#   Minimum depth: 1074.434728 meters looking forward 100.000000 meters along route
#   Maximum depth: 1089.116398 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1024.434728 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757372;
longitude = -122.078667;
duration = 201;
initialDepth = 1042.018646;
finalDepth = 1024.434728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7805109999999
#   Actual altitude:          50.7805109999999
#   Commanded vehicle depth:  1024.434728 
#   Seafloor depth:           -1074.434728
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.787927 meters
#   Minimum depth: 1092.018646 meters looking forward 100.000000 meters along route
#   Maximum depth: 1108.925525 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1042.018646 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756963;
longitude = -122.079675;
duration = 201;
initialDepth = 1058.507888;
finalDepth = 1042.018646;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1042.018646 
#   Seafloor depth:           -1092.018646
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.788334 meters
#   Minimum depth: 1108.507888 meters looking forward 100.000000 meters along route
#   Maximum depth: 1132.089011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1058.507888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756554;
longitude = -122.080683;
duration = 201;
initialDepth = 1079.040759;
finalDepth = 1058.507888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1058.507888 
#   Seafloor depth:           -1108.507888
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.788740 meters
#   Minimum depth: 1129.040759 meters looking forward 100.000000 meters along route
#   Maximum depth: 1139.520110 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1079.040759 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756145;
longitude = -122.081692;
duration = 201;
initialDepth = 1081.519893;
finalDepth = 1079.040759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9177910000001
#   Actual altitude:          52.9177910000001
#   Commanded vehicle depth:  1079.040759 
#   Seafloor depth:           -1131.958550
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.789148 meters
#   Minimum depth: 1131.519893 meters looking forward 100.000000 meters along route
#   Maximum depth: 1135.818780 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1081.519893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755736;
longitude = -122.082700;
duration = 201;
initialDepth = 1083.238113;
finalDepth = 1081.519893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9177910000001
#   Actual altitude:          52.9177910000001
#   Commanded vehicle depth:  1081.519893 
#   Seafloor depth:           -1132.047193
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.789554 meters
#   Minimum depth: 1133.238113 meters looking forward 100.000000 meters along route
#   Maximum depth: 1137.600581 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1083.238113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755327;
longitude = -122.083708;
duration = 201;
initialDepth = 1086.081625;
finalDepth = 1083.238113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5273000000002
#   Actual altitude:          50.5273000000002
#   Commanded vehicle depth:  1083.238113 
#   Seafloor depth:           -1133.649522
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.16;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.789962 meters
#   Minimum depth: 1136.081625 meters looking forward 100.000000 meters along route
#   Maximum depth: 1146.715526 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1086.081625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754918;
longitude = -122.084716;
duration = 201;
initialDepth = 1100.180896;
finalDepth = 1086.081625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4114089999998
#   Actual altitude:          50.4114089999998
#   Commanded vehicle depth:  1086.081625 
#   Seafloor depth:           -1136.081625
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.790368 meters
#   Minimum depth: 1150.180896 meters looking forward 100.000000 meters along route
#   Maximum depth: 1166.368417 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1100.180896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754510;
longitude = -122.085725;
duration = 201;
initialDepth = 1118.029944;
finalDepth = 1100.180896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1100.180896 
#   Seafloor depth:           -1150.180896
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.790775 meters
#   Minimum depth: 1168.029944 meters looking forward 100.000000 meters along route
#   Maximum depth: 1193.075110 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1118.029944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754101;
longitude = -122.086733;
duration = 201;
initialDepth = 1139.607164;
finalDepth = 1118.029944;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1118.029944 
#   Seafloor depth:           -1168.029944
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 100.791182 meters
#   Minimum depth: 1189.607164 meters looking forward 100.000000 meters along route
#   Maximum depth: 1222.105770 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1139.607164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753692;
longitude = -122.087741;
duration = 201;
initialDepth = 1168.373505;
finalDepth = 1139.607164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1139.607164 
#   Seafloor depth:           -1189.607164
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 105.428327 meters
#   Minimum depth: 1218.373505 meters looking forward 100.000000 meters along route
#   Maximum depth: 1223.121736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1168.373505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753283;
longitude = -122.088749;
duration = 210;
initialDepth = 1164.157377;
finalDepth = 1168.373505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.6743839999999
#   Actual altitude:          54.6743839999999
#   Commanded vehicle depth:  1168.373505 
#   Seafloor depth:           -1223.047889
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 103.646773 meters
#   Minimum depth: 1214.157377 meters looking forward 100.000000 meters along route
#   Maximum depth: 1220.248016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1164.157377 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752855;
longitude = -122.089804;
duration = 207;
initialDepth = 1172.377563;
finalDepth = 1164.157377;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.6743839999999
#   Actual altitude:          54.6743839999999
#   Commanded vehicle depth:  1164.157377 
#   Seafloor depth:           -1217.708571
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.40;
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;
}
# 
#######################################################
# 
# 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 65
#   Segment length 170.723122 meters
#   Minimum depth: 1222.377563 meters looking forward 100.000000 meters along route
#   Maximum depth: 1231.912462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1172.377563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752435;
longitude = -122.090841;
duration = 341;
# abortOnTimeout    = True; 
initialDepth = 1173.782270;
finalDepth = 1172.377563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5511939999999
#   Actual altitude:          53.5511939999999
#   Commanded vehicle depth:  1172.377563 
#   Seafloor depth:           -1222.377563
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.07;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.448250 meters
#   Minimum depth: 1223.782270 meters looking forward 100.000000 meters along route
#   Maximum depth: 1251.398942 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1173.782270 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753486;
longitude = -122.092238;
duration = 204;
initialDepth = 1200.951348;
finalDepth = 1173.782270;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1173.78227 
#   Seafloor depth:           -1223.782270
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.447793 meters
#   Minimum depth: 1250.951348 meters looking forward 100.000000 meters along route
#   Maximum depth: 1277.257145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1200.951348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754117;
longitude = -122.093076;
duration = 204;
initialDepth = 1224.149555;
finalDepth = 1200.951348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1200.951348 
#   Seafloor depth:           -1250.951348
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.447334 meters
#   Minimum depth: 1274.149555 meters looking forward 100.000000 meters along route
#   Maximum depth: 1282.283478 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1224.149555 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754748;
longitude = -122.093914;
duration = 204;
initialDepth = 1220.981391;
finalDepth = 1224.149555;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6077809999999
#   Actual altitude:          53.6077809999999
#   Commanded vehicle depth:  1224.149555 
#   Seafloor depth:           -1277.757336
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.446877 meters
#   Minimum depth: 1270.981391 meters looking forward 100.000000 meters along route
#   Maximum depth: 1275.729020 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1220.981391 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755379;
longitude = -122.094752;
duration = 204;
initialDepth = 1222.920819;
finalDepth = 1220.981391;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.319291
#   Actual altitude:          54.319291
#   Commanded vehicle depth:  1220.981391 
#   Seafloor depth:           -1275.300682
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.30;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.446419 meters
#   Minimum depth: 1272.920819 meters looking forward 100.000000 meters along route
#   Maximum depth: 1283.282766 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1222.920819 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756010;
longitude = -122.095590;
duration = 204;
initialDepth = 1228.741451;
finalDepth = 1222.920819;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.319291
#   Actual altitude:          54.319291
#   Commanded vehicle depth:  1222.920819 
#   Seafloor depth:           -1272.920819
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.30;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.445962 meters
#   Minimum depth: 1278.741451 meters looking forward 100.000000 meters along route
#   Maximum depth: 1282.500348 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1228.741451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756641;
longitude = -122.096428;
duration = 204;
initialDepth = 1218.293325;
finalDepth = 1228.741451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3884909999999
#   Actual altitude:          52.3884909999999
#   Commanded vehicle depth:  1228.741451 
#   Seafloor depth:           -1281.129942
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.445504 meters
#   Minimum depth: 1268.293325 meters looking forward 100.000000 meters along route
#   Maximum depth: 1278.752662 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1218.293325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757272;
longitude = -122.097266;
duration = 204;
initialDepth = 1209.437363;
finalDepth = 1218.293325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.459337
#   Actual altitude:          60.459337
#   Commanded vehicle depth:  1218.293325 
#   Seafloor depth:           -1278.752662
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.687214 meters
#   Minimum depth: 1259.437363 meters looking forward 100.000000 meters along route
#   Maximum depth: 1270.462496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1209.437363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757902;
longitude = -122.098104;
duration = 205;
initialDepth = 1201.353314;
finalDepth = 1209.437363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0251330000001
#   Actual altitude:          61.0251330000001
#   Commanded vehicle depth:  1209.437363 
#   Seafloor depth:           -1270.462496
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.31;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 102.202421 meters
#   Minimum depth: 1251.353314 meters looking forward 100.000000 meters along route
#   Maximum depth: 1261.249084 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1201.353314 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758535;
longitude = -122.098944;
duration = 204;
initialDepth = 1166.621306;
finalDepth = 1201.353314;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0251330000001
#   Actual altitude:          61.0251330000001
#   Commanded vehicle depth:  1201.353314 
#   Seafloor depth:           -1261.249084
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.31;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 103.209874 meters
#   Minimum depth: 1216.621306 meters looking forward 100.000000 meters along route
#   Maximum depth: 1252.846541 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1166.621306 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759164;
longitude = -122.099780;
duration = 206;
initialDepth = 1126.397632;
finalDepth = 1166.621306;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.2252349999999
#   Actual altitude:          86.2252349999999
#   Commanded vehicle depth:  1166.621306 
#   Seafloor depth:           -1252.846541
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 101.677930 meters
#   Minimum depth: 1176.397632 meters looking forward 100.000000 meters along route
#   Maximum depth: 1224.118159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1126.397632 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759800;
longitude = -122.100625;
duration = 203;
initialDepth = 1086.172082;
finalDepth = 1126.397632;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.7205270000002
#   Actual altitude:          97.7205270000002
#   Commanded vehicle depth:  1126.397632 
#   Seafloor depth:           -1224.118159
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 103.732526 meters
#   Minimum depth: 1136.172082 meters looking forward 100.000000 meters along route
#   Maximum depth: 1176.315946 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1086.172082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760426;
longitude = -122.101457;
duration = 207;
initialDepth = 1072.232995;
finalDepth = 1086.172082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.7205270000002
#   Actual altitude:          97.7205270000002
#   Commanded vehicle depth:  1086.172082 
#   Seafloor depth:           -1175.794660
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 101.153448 meters
#   Minimum depth: 1122.232995 meters looking forward 100.000000 meters along route
#   Maximum depth: 1137.034066 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1072.232995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761065;
longitude = -122.102305;
duration = 202;
initialDepth = 1075.873183;
finalDepth = 1072.232995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.622578
#   Actual altitude:          89.622578
#   Commanded vehicle depth:  1072.232995 
#   Seafloor depth:           -1137.034066
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.89;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 104.255167 meters
#   Minimum depth: 1125.873183 meters looking forward 100.000000 meters along route
#   Maximum depth: 1133.291708 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1075.873183 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761688;
longitude = -122.103133;
duration = 208;
initialDepth = 1042.662127;
finalDepth = 1075.873183;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8010709999999
#   Actual altitude:          64.8010709999999
#   Commanded vehicle depth:  1075.873183 
#   Seafloor depth:           -1129.913883
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 100.628977 meters
#   Minimum depth: 1092.662127 meters looking forward 100.000000 meters along route
#   Maximum depth: 1128.420295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1042.662127 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762330;
longitude = -122.103986;
duration = 201;
initialDepth = 994.218891;
finalDepth = 1042.662127;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.7581679999998
#   Actual altitude:          85.7581679999998
#   Commanded vehicle depth:  1042.662127 
#   Seafloor depth:           -1128.420295
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 104.777799 meters
#   Minimum depth: 1044.218891 meters looking forward 100.000000 meters along route
#   Maximum depth: 1089.845909 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 994.218891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762949;
longitude = -122.104809;
duration = 209;
initialDepth = 958.382670;
finalDepth = 994.218891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.6270179999999
#   Actual altitude:          95.6270179999999
#   Commanded vehicle depth:  994.218891 
#   Seafloor depth:           -1089.845909
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 104.965948 meters
#   Minimum depth: 1008.382670 meters looking forward 100.000000 meters along route
#   Maximum depth: 1043.174963 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 958.382670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763595;
longitude = -122.105666;
duration = 209;
initialDepth = 956.143295;
finalDepth = 958.382670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       95.6270179999999
#   Actual altitude:          95.6270179999999
#   Commanded vehicle depth:  958.38267 
#   Seafloor depth:           -1043.174963
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.69;
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;
}
# 
#######################################################
# 
# 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 64
#   Segment length 139.273867 meters
#   Minimum depth: 1006.143295 meters looking forward 100.000000 meters along route
#   Maximum depth: 1042.195325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 956.143295 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764241;
longitude = -122.106525;
duration = 278;
# abortOnTimeout    = True; 
initialDepth = 973.969515;
finalDepth = 956.143295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.792293
#   Actual altitude:          84.792293
#   Commanded vehicle depth:  956.143295 
#   Seafloor depth:           -1006.143295
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.44;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.478210 meters
#   Minimum depth: 1023.969515 meters looking forward 100.000000 meters along route
#   Maximum depth: 1037.308495 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 973.969515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763760;
longitude = -122.107967;
duration = 208;
initialDepth = 978.756718;
finalDepth = 973.969515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.299129
#   Actual altitude:          60.299129
#   Commanded vehicle depth:  973.969515 
#   Seafloor depth:           -1034.268644
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.09;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 106.240754 meters
#   Minimum depth: 1028.756718 meters looking forward 100.000000 meters along route
#   Maximum depth: 1047.009290 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 978.756718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763400;
longitude = -122.109048;
duration = 212;
initialDepth = 976.856696;
finalDepth = 978.756718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.299129
#   Actual altitude:          60.299129
#   Commanded vehicle depth:  978.756718 
#   Seafloor depth:           -1033.333307
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.09;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 102.716856 meters
#   Minimum depth: 1026.856696 meters looking forward 100.000000 meters along route
#   Maximum depth: 1048.690876 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 976.856696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763033;
longitude = -122.110148;
duration = 205;
initialDepth = 960.007932;
finalDepth = 976.856696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.336149
#   Actual altitude:          68.336149
#   Commanded vehicle depth:  976.856696 
#   Seafloor depth:           -1045.192845
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.50;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.479400 meters
#   Minimum depth: 1010.007932 meters looking forward 100.000000 meters along route
#   Maximum depth: 1039.493838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 960.007932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762679;
longitude = -122.111211;
duration = 208;
initialDepth = 960.107315;
finalDepth = 960.007932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.447265
#   Actual altitude:          73.447265
#   Commanded vehicle depth:  960.007932 
#   Seafloor depth:           -1033.455197
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.03;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 106.705137 meters
#   Minimum depth: 1010.107315 meters looking forward 100.000000 meters along route
#   Maximum depth: 1029.707858 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 960.107315 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762318;
longitude = -122.112292;
duration = 213;
initialDepth = 978.782349;
finalDepth = 960.107315;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.447265
#   Actual altitude:          73.447265
#   Commanded vehicle depth:  960.107315 
#   Seafloor depth:           -1010.107315
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.03;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 102.254854 meters
#   Minimum depth: 1028.782349 meters looking forward 100.000000 meters along route
#   Maximum depth: 1056.405493 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 978.782349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761950;
longitude = -122.113396;
duration = 204;
initialDepth = 1005.908082;
finalDepth = 978.782349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  978.782349 
#   Seafloor depth:           -1028.782349
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.480591 meters
#   Minimum depth: 1055.908082 meters looking forward 100.000000 meters along route
#   Maximum depth: 1098.193570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1005.908082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761597;
longitude = -122.114455;
duration = 208;
initialDepth = 1049.007496;
finalDepth = 1005.908082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1005.908082 
#   Seafloor depth:           -1055.908082
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 107.169531 meters
#   Minimum depth: 1099.007496 meters looking forward 100.000000 meters along route
#   Maximum depth: 1138.316413 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1049.007496 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761237;
longitude = -122.115536;
duration = 214;
initialDepth = 1063.010967;
finalDepth = 1049.007496;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1049.007496 
#   Seafloor depth:           -1099.007496
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.792841 meters
#   Minimum depth: 1113.010967 meters looking forward 100.000000 meters along route
#   Maximum depth: 1140.521506 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1063.010967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760867;
longitude = -122.116645;
duration = 203;
initialDepth = 1060.640126;
finalDepth = 1063.010967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.328704
#   Actual altitude:          76.328704
#   Commanded vehicle depth:  1063.010967 
#   Seafloor depth:           -1139.339671
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.90;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.481781 meters
#   Minimum depth: 1110.640126 meters looking forward 100.000000 meters along route
#   Maximum depth: 1140.021019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1060.640126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760516;
longitude = -122.117699;
duration = 208;
initialDepth = 1090.283251;
finalDepth = 1060.640126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.328704
#   Actual altitude:          76.328704
#   Commanded vehicle depth:  1060.640126 
#   Seafloor depth:           -1111.730401
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.90;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 107.633936 meters
#   Minimum depth: 1140.283251 meters looking forward 100.000000 meters along route
#   Maximum depth: 1167.273662 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1090.283251 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760155;
longitude = -122.118780;
duration = 215;
initialDepth = 1117.890737;
finalDepth = 1090.283251;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.090275
#   Actual altitude:          51.090275
#   Commanded vehicle depth:  1090.283251 
#   Seafloor depth:           -1140.283251
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.330818 meters
#   Minimum depth: 1167.890737 meters looking forward 100.000000 meters along route
#   Maximum depth: 1182.847897 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1117.890737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759784;
longitude = -122.119894;
duration = 202;
initialDepth = 1131.304737;
finalDepth = 1117.890737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1117.890737 
#   Seafloor depth:           -1167.890737
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.482972 meters
#   Minimum depth: 1181.304737 meters looking forward 100.000000 meters along route
#   Maximum depth: 1195.261876 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1131.304737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759434;
longitude = -122.120943;
duration = 208;
initialDepth = 1140.219287;
finalDepth = 1131.304737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.941495
#   Actual altitude:          51.941495
#   Commanded vehicle depth:  1131.304737 
#   Seafloor depth:           -1183.246232
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 108.098351 meters
#   Minimum depth: 1190.219287 meters looking forward 100.000000 meters along route
#   Maximum depth: 1205.745561 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1140.219287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.759074;
longitude = -122.122024;
duration = 216;
initialDepth = 1154.815112;
finalDepth = 1140.219287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.941495
#   Actual altitude:          51.941495
#   Commanded vehicle depth:  1140.219287 
#   Seafloor depth:           -1190.219287
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 100.868784 meters
#   Minimum depth: 1204.815112 meters looking forward 100.000000 meters along route
#   Maximum depth: 1224.579785 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1154.815112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758701;
longitude = -122.123143;
duration = 201;
initialDepth = 1174.385197;
finalDepth = 1154.815112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1154.815112 
#   Seafloor depth:           -1204.815112
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.799734 meters
#   Minimum depth: 1224.385197 meters looking forward 100.000000 meters along route
#   Maximum depth: 1231.200188 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1174.385197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758353;
longitude = -122.124187;
duration = 209;
initialDepth = 1181.235692;
finalDepth = 1174.385197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4366579999999
#   Actual altitude:          50.4366579999999
#   Commanded vehicle depth:  1174.385197 
#   Seafloor depth:           -1224.821855
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 108.247206 meters
#   Minimum depth: 1231.235692 meters looking forward 100.000000 meters along route
#   Maximum depth: 1243.028690 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1181.235692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757991;
longitude = -122.125272;
duration = 216;
initialDepth = 1189.119012;
finalDepth = 1181.235692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4366579999999
#   Actual altitude:          50.4366579999999
#   Commanded vehicle depth:  1181.235692 
#   Seafloor depth:           -1231.235692
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 100.406741 meters
#   Minimum depth: 1239.119012 meters looking forward 100.000000 meters along route
#   Maximum depth: 1245.194484 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1189.119012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757618;
longitude = -122.126392;
duration = 200;
initialDepth = 1192.177035;
finalDepth = 1189.119012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1189.119012 
#   Seafloor depth:           -1239.119012
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 105.264126 meters
#   Minimum depth: 1242.177035 meters looking forward 100.000000 meters along route
#   Maximum depth: 1245.368403 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1192.177035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757272;
longitude = -122.127431;
duration = 210;
initialDepth = 1194.665929;
finalDepth = 1192.177035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3031590000001
#   Actual altitude:          52.3031590000001
#   Commanded vehicle depth:  1192.177035 
#   Seafloor depth:           -1244.480194
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 103.706980 meters
#   Minimum depth: 1244.665929 meters looking forward 100.000000 meters along route
#   Maximum depth: 1251.593822 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1194.665929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756908;
longitude = -122.128521;
duration = 207;
initialDepth = 1198.767447;
finalDepth = 1194.665929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3031590000001
#   Actual altitude:          52.3031590000001
#   Commanded vehicle depth:  1194.665929 
#   Seafloor depth:           -1245.641857
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.486148 meters
#   Minimum depth: 1248.767447 meters looking forward 100.000000 meters along route
#   Maximum depth: 1252.222242 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1198.767447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756551;
longitude = -122.129594;
duration = 208;
initialDepth = 1201.583159;
finalDepth = 1198.767447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.331414
#   Actual altitude:          51.331414
#   Commanded vehicle depth:  1198.767447 
#   Seafloor depth:           -1250.098861
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 105.728529 meters
#   Minimum depth: 1251.583159 meters looking forward 100.000000 meters along route
#   Maximum depth: 1256.522561 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1201.583159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756190;
longitude = -122.130675;
duration = 211;
initialDepth = 1205.111333;
finalDepth = 1201.583159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.331414
#   Actual altitude:          51.331414
#   Commanded vehicle depth:  1201.583159 
#   Seafloor depth:           -1252.255725
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 103.244960 meters
#   Minimum depth: 1255.111333 meters looking forward 100.000000 meters along route
#   Maximum depth: 1259.150134 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1205.111333 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755825;
longitude = -122.131770;
duration = 206;
initialDepth = 1208.652795;
finalDepth = 1205.111333;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5428379999998
#   Actual altitude:          51.5428379999998
#   Commanded vehicle depth:  1205.111333 
#   Seafloor depth:           -1256.654171
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.487340 meters
#   Minimum depth: 1258.652795 meters looking forward 100.000000 meters along route
#   Maximum depth: 1268.677723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1208.652795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755469;
longitude = -122.132838;
duration = 208;
initialDepth = 1214.710924;
finalDepth = 1208.652795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5428379999998
#   Actual altitude:          51.5428379999998
#   Commanded vehicle depth:  1208.652795 
#   Seafloor depth:           -1258.652795
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 106.192942 meters
#   Minimum depth: 1264.710924 meters looking forward 100.000000 meters along route
#   Maximum depth: 1268.678236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1214.710924 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755109;
longitude = -122.133919;
duration = 212;
initialDepth = 1217.027827;
finalDepth = 1214.710924;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.459932
#   Actual altitude:          53.459932
#   Commanded vehicle depth:  1214.710924 
#   Seafloor depth:           -1268.170856
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 102.782930 meters
#   Minimum depth: 1267.027827 meters looking forward 100.000000 meters along route
#   Maximum depth: 1271.489274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1217.027827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754742;
longitude = -122.135019;
duration = 205;
initialDepth = 1221.042912;
finalDepth = 1217.027827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.459932
#   Actual altitude:          53.459932
#   Commanded vehicle depth:  1217.027827 
#   Seafloor depth:           -1268.474494
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.488531 meters
#   Minimum depth: 1271.042912 meters looking forward 100.000000 meters along route
#   Maximum depth: 1273.973915 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1221.042912 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754388;
longitude = -122.136082;
duration = 208;
initialDepth = 1221.368354;
finalDepth = 1221.042912;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4466670000002
#   Actual altitude:          51.4466670000002
#   Commanded vehicle depth:  1221.042912 
#   Seafloor depth:           -1271.042912
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 106.657367 meters
#   Minimum depth: 1271.368354 meters looking forward 100.000000 meters along route
#   Maximum depth: 1277.485098 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1221.368354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754027;
longitude = -122.137164;
duration = 213;
initialDepth = 1224.758726;
finalDepth = 1221.368354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4017260000001
#   Actual altitude:          52.4017260000001
#   Commanded vehicle depth:  1221.368354 
#   Seafloor depth:           -1273.770080
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 108.252151 meters
#   Minimum depth: 1274.758726 meters looking forward 100.000000 meters along route
#   Maximum depth: 1282.679355 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1224.758726 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753659;
longitude = -122.138267;
duration = 216;
initialDepth = 1223.327766;
finalDepth = 1224.758726;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4017260000001
#   Actual altitude:          52.4017260000001
#   Commanded vehicle depth:  1224.758726 
#   Seafloor depth:           -1275.362822
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 108.252578 meters
#   Minimum depth: 1273.327766 meters looking forward 100.000000 meters along route
#   Maximum depth: 1284.707535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1223.327766 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753286;
longitude = -122.139388;
duration = 216;
initialDepth = 1218.773729;
finalDepth = 1223.327766;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.3797689999999
#   Actual altitude:          61.3797689999999
#   Commanded vehicle depth:  1223.327766 
#   Seafloor depth:           -1284.707535
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 108.253004 meters
#   Minimum depth: 1268.773729 meters looking forward 100.000000 meters along route
#   Maximum depth: 1274.610652 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1218.773729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752912;
longitude = -122.140508;
duration = 216;
initialDepth = 1219.386294;
finalDepth = 1218.773729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.3797689999999
#   Actual altitude:          61.3797689999999
#   Commanded vehicle depth:  1218.773729 
#   Seafloor depth:           -1272.733977
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 108.253431 meters
#   Minimum depth: 1269.386294 meters looking forward 100.000000 meters along route
#   Maximum depth: 1272.569253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1219.386294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752539;
longitude = -122.141628;
duration = 216;
initialDepth = 1211.381603;
finalDepth = 1219.386294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.9602480000001
#   Actual altitude:          53.9602480000001
#   Commanded vehicle depth:  1219.386294 
#   Seafloor depth:           -1272.569253
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.19;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 104.679675 meters
#   Minimum depth: 1261.381603 meters looking forward 100.000000 meters along route
#   Maximum depth: 1270.729642 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1211.381603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752165;
longitude = -122.142749;
duration = 209;
initialDepth = 1201.336603;
finalDepth = 1211.381603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.6913910000001
#   Actual altitude:          57.6913910000001
#   Commanded vehicle depth:  1211.381603 
#   Seafloor depth:           -1269.072994
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.31;
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;
}
# 
#######################################################
# 
# 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 63
#   Segment length 77.335435 meters
#   Minimum depth: 1251.336603 meters looking forward 100.000000 meters along route
#   Maximum depth: 1262.500145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1201.336603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751804;
longitude = -122.143832;
duration = 154;
# abortOnTimeout    = True; 
initialDepth = 1169.585659;
finalDepth = 1201.336603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.9890809999999
#   Actual altitude:          58.9890809999999
#   Commanded vehicle depth:  1201.336603 
#   Seafloor depth:           -1260.325684
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.70;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 105.453924 meters
#   Minimum depth: 1219.585659 meters looking forward 100.000000 meters along route
#   Maximum depth: 1253.301116 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1169.585659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751143;
longitude = -122.143557;
duration = 210;
initialDepth = 1170.157620;
finalDepth = 1169.585659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.4893279999999
#   Actual altitude:          80.4893279999999
#   Commanded vehicle depth:  1169.585659 
#   Seafloor depth:           -1250.074987
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 105.454041 meters
#   Minimum depth: 1220.157620 meters looking forward 100.000000 meters along route
#   Maximum depth: 1230.855153 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1170.157620 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.750242;
longitude = -122.143181;
duration = 210;
initialDepth = 1184.093765;
finalDepth = 1170.157620;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.4893279999999
#   Actual altitude:          80.4893279999999
#   Commanded vehicle depth:  1170.15762 
#   Seafloor depth:           -1220.157620
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 110.255821 meters
#   Minimum depth: 1234.093765 meters looking forward 100.000000 meters along route
#   Maximum depth: 1249.895420 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1184.093765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749341;
longitude = -122.142805;
duration = 220;
initialDepth = 1180.678794;
finalDepth = 1184.093765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1184.093765 
#   Seafloor depth:           -1234.093765
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 100.652614 meters
#   Minimum depth: 1230.678794 meters looking forward 100.000000 meters along route
#   Maximum depth: 1249.612989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1180.678794 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748398;
longitude = -122.142413;
duration = 201;
initialDepth = 1153.058146;
finalDepth = 1180.678794;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.934195
#   Actual altitude:          68.934195
#   Commanded vehicle depth:  1180.678794 
#   Seafloor depth:           -1249.612989
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.68;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 108.948630 meters
#   Minimum depth: 1203.058146 meters looking forward 100.000000 meters along route
#   Maximum depth: 1226.746922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1153.058146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747538;
longitude = -122.142054;
duration = 217;
initialDepth = 1153.528595;
finalDepth = 1153.058146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.647352
#   Actual altitude:          72.647352
#   Commanded vehicle depth:  1153.058146 
#   Seafloor depth:           -1225.705498
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.79;
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;
}
# 
#######################################################
# 
# 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 62
#   Segment length 113.317158 meters
#   Minimum depth: 1203.528595 meters looking forward 100.000000 meters along route
#   Maximum depth: 1246.440518 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1153.528595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.746607;
longitude = -122.141666;
duration = 226;
# abortOnTimeout    = True; 
initialDepth = 1196.666784;
finalDepth = 1153.528595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.647352
#   Actual altitude:          72.647352
#   Commanded vehicle depth:  1153.528595 
#   Seafloor depth:           -1203.528595
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.79;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.785409 meters
#   Minimum depth: 1246.666784 meters looking forward 100.000000 meters along route
#   Maximum depth: 1279.768485 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1196.666784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.746997;
longitude = -122.140493;
duration = 213;
initialDepth = 1230.981217;
finalDepth = 1196.666784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0123550000001
#   Actual altitude:          50.0123550000001
#   Commanded vehicle depth:  1196.666784 
#   Seafloor depth:           -1246.679139
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.510049 meters
#   Minimum depth: 1280.981217 meters looking forward 100.000000 meters along route
#   Maximum depth: 1304.937158 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1230.981217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747365;
longitude = -122.139388;
duration = 205;
initialDepth = 1253.611779;
finalDepth = 1230.981217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0123550000001
#   Actual altitude:          50.0123550000001
#   Commanded vehicle depth:  1230.981217 
#   Seafloor depth:           -1280.981217
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.647132 meters
#   Minimum depth: 1303.611779 meters looking forward 100.000000 meters along route
#   Maximum depth: 1311.952503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1253.611779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747718;
longitude = -122.138327;
duration = 209;
initialDepth = 1256.316103;
finalDepth = 1253.611779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5755849999998
#   Actual altitude:          50.5755849999998
#   Commanded vehicle depth:  1253.611779 
#   Seafloor depth:           -1304.187364
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.715603 meters
#   Minimum depth: 1306.316103 meters looking forward 100.000000 meters along route
#   Maximum depth: 1312.086955 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1256.316103 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748079;
longitude = -122.137243;
duration = 213;
initialDepth = 1258.436943;
finalDepth = 1256.316103;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7708519999999
#   Actual altitude:          55.7708519999999
#   Commanded vehicle depth:  1256.316103 
#   Seafloor depth:           -1312.086955
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.577467 meters
#   Minimum depth: 1308.436943 meters looking forward 100.000000 meters along route
#   Maximum depth: 1310.954030 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1258.436943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748446;
longitude = -122.136139;
duration = 205;
initialDepth = 1256.100355;
finalDepth = 1258.436943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7708519999999
#   Actual altitude:          55.7708519999999
#   Commanded vehicle depth:  1258.436943 
#   Seafloor depth:           -1309.137583
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.645938 meters
#   Minimum depth: 1306.100355 meters looking forward 100.000000 meters along route
#   Maximum depth: 1311.897161 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1256.100355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748800;
longitude = -122.135077;
duration = 209;
initialDepth = 1254.003192;
finalDepth = 1256.100355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.163996
#   Actual altitude:          54.163996
#   Commanded vehicle depth:  1256.100355 
#   Seafloor depth:           -1310.264351
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.645800 meters
#   Minimum depth: 1304.003192 meters looking forward 100.000000 meters along route
#   Maximum depth: 1307.679723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1254.003192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749160;
longitude = -122.133994;
duration = 213;
initialDepth = 1253.143312;
finalDepth = 1254.003192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.163996
#   Actual altitude:          54.163996
#   Commanded vehicle depth:  1254.003192 
#   Seafloor depth:           -1307.679723
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.644883 meters
#   Minimum depth: 1303.143312 meters looking forward 100.000000 meters along route
#   Maximum depth: 1305.643734 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1253.143312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749528;
longitude = -122.132890;
duration = 205;
initialDepth = 1252.612014;
finalDepth = 1253.143312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6765310000001
#   Actual altitude:          53.6765310000001
#   Commanded vehicle depth:  1253.143312 
#   Seafloor depth:           -1303.781668
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.644744 meters
#   Minimum depth: 1302.612014 meters looking forward 100.000000 meters along route
#   Maximum depth: 1306.076968 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1252.612014 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749881;
longitude = -122.131827;
duration = 209;
initialDepth = 1248.363149;
finalDepth = 1252.612014;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0828759999999
#   Actual altitude:          51.0828759999999
#   Commanded vehicle depth:  1252.612014 
#   Seafloor depth:           -1303.694890
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.575999 meters
#   Minimum depth: 1298.363149 meters looking forward 100.000000 meters along route
#   Maximum depth: 1303.649304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1248.363149 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.750242;
longitude = -122.130744;
duration = 213;
initialDepth = 1239.551323;
finalDepth = 1248.363149;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.286155
#   Actual altitude:          55.286155
#   Commanded vehicle depth:  1248.363149 
#   Seafloor depth:           -1303.649304
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.712297 meters
#   Minimum depth: 1289.551323 meters looking forward 100.000000 meters along route
#   Maximum depth: 1297.938194 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1239.551323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.750609;
longitude = -122.129641;
duration = 205;
initialDepth = 1232.336990;
finalDepth = 1239.551323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3868710000002
#   Actual altitude:          58.3868710000002
#   Commanded vehicle depth:  1239.551323 
#   Seafloor depth:           -1297.938194
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.52;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.643551 meters
#   Minimum depth: 1282.336990 meters looking forward 100.000000 meters along route
#   Maximum depth: 1291.104753 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1232.336990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.750963;
longitude = -122.128578;
duration = 209;
initialDepth = 1221.099390;
finalDepth = 1232.336990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3868710000002
#   Actual altitude:          58.3868710000002
#   Commanded vehicle depth:  1232.33699 
#   Seafloor depth:           -1289.205274
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.52;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.506199 meters
#   Minimum depth: 1271.099390 meters looking forward 100.000000 meters along route
#   Maximum depth: 1282.229512 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1221.099390 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751323;
longitude = -122.127495;
duration = 213;
initialDepth = 1207.984211;
finalDepth = 1221.099390;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.130122
#   Actual altitude:          61.130122
#   Commanded vehicle depth:  1221.09939 
#   Seafloor depth:           -1282.229512
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.34;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.779709 meters
#   Minimum depth: 1257.984211 meters looking forward 100.000000 meters along route
#   Maximum depth: 1269.471154 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1207.984211 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751690;
longitude = -122.126392;
duration = 205;
initialDepth = 1202.812571;
finalDepth = 1207.984211;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.4869430000001
#   Actual altitude:          61.4869430000001
#   Commanded vehicle depth:  1207.984211 
#   Seafloor depth:           -1269.471154
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.45;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.642358 meters
#   Minimum depth: 1252.812571 meters looking forward 100.000000 meters along route
#   Maximum depth: 1260.518558 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1202.812571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752044;
longitude = -122.125328;
duration = 209;
initialDepth = 1201.499942;
finalDepth = 1202.812571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.4869430000001
#   Actual altitude:          61.4869430000001
#   Commanded vehicle depth:  1202.812571 
#   Seafloor depth:           -1260.518558
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.45;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.436401 meters
#   Minimum depth: 1251.499942 meters looking forward 100.000000 meters along route
#   Maximum depth: 1258.089004 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1201.499942 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752405;
longitude = -122.124245;
duration = 212;
initialDepth = 1207.903425;
finalDepth = 1201.499942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.7059870000001
#   Actual altitude:          57.7059870000001
#   Commanded vehicle depth:  1201.499942 
#   Seafloor depth:           -1253.651145
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.31;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.847122 meters
#   Minimum depth: 1257.903425 meters looking forward 100.000000 meters along route
#   Maximum depth: 1261.318418 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1207.903425 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752771;
longitude = -122.123143;
duration = 205;
initialDepth = 1205.083545;
finalDepth = 1207.903425;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1512030000001
#   Actual altitude:          52.1512030000001
#   Commanded vehicle depth:  1207.903425 
#   Seafloor depth:           -1257.903425
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.641164 meters
#   Minimum depth: 1255.083545 meters looking forward 100.000000 meters along route
#   Maximum depth: 1262.521353 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1205.083545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753126;
longitude = -122.122079;
duration = 209;
initialDepth = 1205.260992;
finalDepth = 1205.083545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.4378080000001
#   Actual altitude:          57.4378080000001
#   Commanded vehicle depth:  1205.083545 
#   Seafloor depth:           -1262.521353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.366605 meters
#   Minimum depth: 1255.260992 meters looking forward 100.000000 meters along route
#   Maximum depth: 1259.568051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1205.260992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753486;
longitude = -122.120995;
duration = 212;
initialDepth = 1205.623636;
finalDepth = 1205.260992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.4378080000001
#   Actual altitude:          57.4378080000001
#   Commanded vehicle depth:  1205.260992 
#   Seafloor depth:           -1255.899674
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.914532 meters
#   Minimum depth: 1255.623636 meters looking forward 100.000000 meters along route
#   Maximum depth: 1258.336911 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1205.623636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753853;
longitude = -122.119894;
duration = 205;
initialDepth = 1199.827985;
finalDepth = 1205.623636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0724230000001
#   Actual altitude:          51.0724230000001
#   Commanded vehicle depth:  1205.623636 
#   Seafloor depth:           -1256.696059
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.639972 meters
#   Minimum depth: 1249.827985 meters looking forward 100.000000 meters along route
#   Maximum depth: 1257.163417 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1199.827985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754207;
longitude = -122.118829;
duration = 209;
initialDepth = 1191.298131;
finalDepth = 1199.827985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7986190000001
#   Actual altitude:          55.7986190000001
#   Commanded vehicle depth:  1199.827985 
#   Seafloor depth:           -1255.626604
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.74;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.296810 meters
#   Minimum depth: 1241.298131 meters looking forward 100.000000 meters along route
#   Maximum depth: 1249.998896 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1191.298131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754568;
longitude = -122.117746;
duration = 212;
initialDepth = 1172.798370;
finalDepth = 1191.298131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.608884
#   Actual altitude:          58.608884
#   Commanded vehicle depth:  1191.298131 
#   Seafloor depth:           -1249.907015
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 102.981941 meters
#   Minimum depth: 1222.798370 meters looking forward 100.000000 meters along route
#   Maximum depth: 1241.507137 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1172.798370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754934;
longitude = -122.116645;
duration = 205;
initialDepth = 1145.707425;
finalDepth = 1172.798370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.1035280000001
#   Actual altitude:          68.1035280000001
#   Commanded vehicle depth:  1172.79837 
#   Seafloor depth:           -1240.901898
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.638779 meters
#   Minimum depth: 1195.707425 meters looking forward 100.000000 meters along route
#   Maximum depth: 1221.820923 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1145.707425 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755289;
longitude = -122.115579;
duration = 209;
initialDepth = 1135.148917;
finalDepth = 1145.707425;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.1134979999999
#   Actual altitude:          76.1134979999999
#   Commanded vehicle depth:  1145.707425 
#   Seafloor depth:           -1221.820923
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.83;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.227017 meters
#   Minimum depth: 1185.148917 meters looking forward 100.000000 meters along route
#   Maximum depth: 1196.127144 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1135.148917 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755649;
longitude = -122.114496;
duration = 212;
initialDepth = 1131.275270;
finalDepth = 1135.148917;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.1134979999999
#   Actual altitude:          76.1134979999999
#   Commanded vehicle depth:  1135.148917 
#   Seafloor depth:           -1195.901159
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.83;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 103.049348 meters
#   Minimum depth: 1181.275270 meters looking forward 100.000000 meters along route
#   Maximum depth: 1187.352422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1131.275270 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756015;
longitude = -122.113396;
duration = 206;
initialDepth = 1123.231538;
finalDepth = 1131.275270;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.752242
#   Actual altitude:          60.752242
#   Commanded vehicle depth:  1131.27527 
#   Seafloor depth:           -1185.410915
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.637587 meters
#   Minimum depth: 1173.231538 meters looking forward 100.000000 meters along route
#   Maximum depth: 1183.776553 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1123.231538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756370;
longitude = -122.112330;
duration = 209;
initialDepth = 1100.996909;
finalDepth = 1123.231538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.5408440000001
#   Actual altitude:          59.5408440000001
#   Commanded vehicle depth:  1123.231538 
#   Seafloor depth:           -1182.772382
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.86;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 106.157226 meters
#   Minimum depth: 1150.996909 meters looking forward 100.000000 meters along route
#   Maximum depth: 1173.063791 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1100.996909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756731;
longitude = -122.111246;
duration = 212;
initialDepth = 1073.566328;
finalDepth = 1100.996909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.0668820000001
#   Actual altitude:          72.0668820000001
#   Commanded vehicle depth:  1100.996909 
#   Seafloor depth:           -1173.063791
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 108.221296 meters
#   Minimum depth: 1123.566328 meters looking forward 100.000000 meters along route
#   Maximum depth: 1150.315395 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1073.566328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757096;
longitude = -122.110148;
duration = 216;
initialDepth = 1062.558225;
finalDepth = 1073.566328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.749067
#   Actual altitude:          76.749067
#   Commanded vehicle depth:  1073.566328 
#   Seafloor depth:           -1150.315395
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 108.220870 meters
#   Minimum depth: 1112.558225 meters looking forward 100.000000 meters along route
#   Maximum depth: 1122.809787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1062.558225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757469;
longitude = -122.109027;
duration = 216;
initialDepth = 1059.795138;
finalDepth = 1062.558225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.749067
#   Actual altitude:          76.749067
#   Commanded vehicle depth:  1062.558225 
#   Seafloor depth:           -1122.809787
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 108.220445 meters
#   Minimum depth: 1109.795138 meters looking forward 100.000000 meters along route
#   Maximum depth: 1115.211200 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1059.795138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757842;
longitude = -122.107907;
duration = 216;
initialDepth = 1060.151472;
finalDepth = 1059.795138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.2515619999999
#   Actual altitude:          60.2515619999999
#   Commanded vehicle depth:  1059.795138 
#   Seafloor depth:           -1115.211200
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 100.999103 meters
#   Minimum depth: 1110.151472 meters looking forward 100.000000 meters along route
#   Maximum depth: 1131.670880 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1060.151472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758215;
longitude = -122.106787;
duration = 201;
initialDepth = 1076.230195;
finalDepth = 1060.151472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.416062
#   Actual altitude:          55.416062
#   Commanded vehicle depth:  1060.151472 
#   Seafloor depth:           -1111.694142
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 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 61
#   Segment length 122.657135 meters
#   Minimum depth: 1126.230195 meters looking forward 100.000000 meters along route
#   Maximum depth: 1153.886644 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1076.230195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758563;
longitude = -122.105741;
duration = 245;
# abortOnTimeout    = True; 
initialDepth = 1100.066641;
finalDepth = 1076.230195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8739309999999
#   Actual altitude:          59.8739309999999
#   Commanded vehicle depth:  1076.230195 
#   Seafloor depth:           -1136.104126
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.96;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 108.257257 meters
#   Minimum depth: 1150.066641 meters looking forward 100.000000 meters along route
#   Maximum depth: 1184.815222 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1100.066641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757542;
longitude = -122.105214;
duration = 216;
initialDepth = 1138.554001;
finalDepth = 1100.066641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8739309999999
#   Actual altitude:          59.8739309999999
#   Commanded vehicle depth:  1100.066641 
#   Seafloor depth:           -1150.066641
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.96;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 108.257437 meters
#   Minimum depth: 1188.554001 meters looking forward 100.000000 meters along route
#   Maximum depth: 1235.370078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1138.554001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756641;
longitude = -122.104749;
duration = 216;
initialDepth = 1187.586504;
finalDepth = 1138.554001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1138.554001 
#   Seafloor depth:           -1188.554001
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 108.257619 meters
#   Minimum depth: 1237.586504 meters looking forward 100.000000 meters along route
#   Maximum depth: 1272.658391 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1187.586504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755739;
longitude = -122.104284;
duration = 216;
initialDepth = 1212.991074;
finalDepth = 1187.586504;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1187.586504 
#   Seafloor depth:           -1237.586504
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 108.257800 meters
#   Minimum depth: 1262.991074 meters looking forward 100.000000 meters along route
#   Maximum depth: 1288.931220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1212.991074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754838;
longitude = -122.103819;
duration = 216;
initialDepth = 1238.855667;
finalDepth = 1212.991074;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0971050000001
#   Actual altitude:          54.0971050000001
#   Commanded vehicle depth:  1212.991074 
#   Seafloor depth:           -1267.088179
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 108.257981 meters
#   Minimum depth: 1288.855667 meters looking forward 100.000000 meters along route
#   Maximum depth: 1313.824051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1238.855667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753937;
longitude = -122.103354;
duration = 216;
initialDepth = 1260.152680;
finalDepth = 1238.855667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.757644
#   Actual altitude:          54.757644
#   Commanded vehicle depth:  1238.855667 
#   Seafloor depth:           -1293.613311
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 100.982719 meters
#   Minimum depth: 1310.152680 meters looking forward 100.000000 meters along route
#   Maximum depth: 1328.687253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1260.152680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753036;
longitude = -122.102889;
duration = 201;
initialDepth = 1278.577633;
finalDepth = 1260.152680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.757644
#   Actual altitude:          54.757644
#   Commanded vehicle depth:  1260.15268 
#   Seafloor depth:           -1312.288981
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.43;
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;
}
# 
#######################################################
# 
# 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 60
#   Segment length 121.737158 meters
#   Minimum depth: 1328.577633 meters looking forward 100.000000 meters along route
#   Maximum depth: 1341.597920 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1278.577633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752195;
longitude = -122.102455;
duration = 243;
# abortOnTimeout    = True; 
initialDepth = 1289.444876;
finalDepth = 1278.577633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.136301
#   Actual altitude:          52.136301
#   Commanded vehicle depth:  1278.577633 
#   Seafloor depth:           -1328.711639
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.226439 meters
#   Minimum depth: 1339.444876 meters looking forward 100.000000 meters along route
#   Maximum depth: 1350.075584 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1289.444876 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751774;
longitude = -122.103714;
duration = 208;
initialDepth = 1296.153630;
finalDepth = 1289.444876;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.285014
#   Actual altitude:          52.285014
#   Commanded vehicle depth:  1289.444876 
#   Seafloor depth:           -1341.729890
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 106.132829 meters
#   Minimum depth: 1346.153630 meters looking forward 100.000000 meters along route
#   Maximum depth: 1352.228295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1296.153630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751413;
longitude = -122.104792;
duration = 212;
initialDepth = 1294.085224;
finalDepth = 1296.153630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.285014
#   Actual altitude:          52.285014
#   Commanded vehicle depth:  1296.15363 
#   Seafloor depth:           -1346.818660
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 102.321233 meters
#   Minimum depth: 1344.085224 meters looking forward 100.000000 meters along route
#   Maximum depth: 1350.261788 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1294.085224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751046;
longitude = -122.105890;
duration = 204;
initialDepth = 1289.350938;
finalDepth = 1294.085224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6175490000001
#   Actual altitude:          51.6175490000001
#   Commanded vehicle depth:  1294.085224 
#   Seafloor depth:           -1345.702773
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.227624 meters
#   Minimum depth: 1339.350938 meters looking forward 100.000000 meters along route
#   Maximum depth: 1347.168400 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1289.350938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.750692;
longitude = -122.106949;
duration = 208;
initialDepth = 1284.984895;
finalDepth = 1289.350938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.239255
#   Actual altitude:          56.239255
#   Commanded vehicle depth:  1289.350938 
#   Seafloor depth:           -1345.590193
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.87;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 107.531993 meters
#   Minimum depth: 1334.984895 meters looking forward 100.000000 meters along route
#   Maximum depth: 1344.433881 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1284.984895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.750332;
longitude = -122.108027;
duration = 215;
initialDepth = 1282.250212;
finalDepth = 1284.984895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.4489859999999
#   Actual altitude:          59.4489859999999
#   Commanded vehicle depth:  1284.984895 
#   Seafloor depth:           -1344.433881
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.83;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 100.924441 meters
#   Minimum depth: 1332.250212 meters looking forward 100.000000 meters along route
#   Maximum depth: 1338.051036 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1282.250212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749960;
longitude = -122.109139;
duration = 201;
initialDepth = 1276.016203;
finalDepth = 1282.250212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.4489859999999
#   Actual altitude:          59.4489859999999
#   Commanded vehicle depth:  1282.250212 
#   Seafloor depth:           -1338.051036
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.83;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.854614 meters
#   Minimum depth: 1326.016203 meters looking forward 100.000000 meters along route
#   Maximum depth: 1335.241416 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1276.016203 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749611;
longitude = -122.110183;
duration = 209;
initialDepth = 1260.309489;
finalDepth = 1276.016203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.3280430000002
#   Actual altitude:          57.3280430000002
#   Commanded vehicle depth:  1276.016203 
#   Seafloor depth:           -1333.344246
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.20;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 103.603401 meters
#   Minimum depth: 1310.309489 meters looking forward 100.000000 meters along route
#   Maximum depth: 1325.976936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1260.309489 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749248;
longitude = -122.111268;
duration = 207;
initialDepth = 1251.359193;
finalDepth = 1260.309489;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.667447
#   Actual altitude:          65.667447
#   Commanded vehicle depth:  1260.309489 
#   Seafloor depth:           -1325.976936
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.70;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.229600 meters
#   Minimum depth: 1301.359193 meters looking forward 100.000000 meters along route
#   Maximum depth: 1313.691975 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1251.359193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748890;
longitude = -122.112340;
duration = 208;
initialDepth = 1252.138679;
finalDepth = 1251.359193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.667447
#   Actual altitude:          65.667447
#   Commanded vehicle depth:  1251.359193 
#   Seafloor depth:           -1313.691975
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.70;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 106.253791 meters
#   Minimum depth: 1302.138679 meters looking forward 100.000000 meters along route
#   Maximum depth: 1308.314071 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1252.138679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748529;
longitude = -122.113418;
duration = 212;
initialDepth = 1254.505648;
finalDepth = 1252.138679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.332782
#   Actual altitude:          62.332782
#   Commanded vehicle depth:  1252.138679 
#   Seafloor depth:           -1304.726457
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.70;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 102.206597 meters
#   Minimum depth: 1304.505648 meters looking forward 100.000000 meters along route
#   Maximum depth: 1308.133491 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1254.505648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748162;
longitude = -122.114517;
duration = 204;
initialDepth = 1258.121642;
finalDepth = 1254.505648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5877780000001
#   Actual altitude:          52.5877780000001
#   Commanded vehicle depth:  1254.505648 
#   Seafloor depth:           -1304.670657
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.230786 meters
#   Minimum depth: 1308.121642 meters looking forward 100.000000 meters along route
#   Maximum depth: 1325.053313 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1258.121642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747808;
longitude = -122.115574;
duration = 208;
initialDepth = 1275.202454;
finalDepth = 1258.121642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1650089999998
#   Actual altitude:          50.1650089999998
#   Commanded vehicle depth:  1258.121642 
#   Seafloor depth:           -1308.121642
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.05;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 107.652999 meters
#   Minimum depth: 1325.202454 meters looking forward 100.000000 meters along route
#   Maximum depth: 1343.544705 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1275.202454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747448;
longitude = -122.116652;
duration = 215;
initialDepth = 1294.152490;
finalDepth = 1275.202454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1275.202454 
#   Seafloor depth:           -1325.202454
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 100.809761 meters
#   Minimum depth: 1344.152490 meters looking forward 100.000000 meters along route
#   Maximum depth: 1363.116609 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1294.152490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747076;
longitude = -122.117766;
duration = 201;
initialDepth = 1313.062604;
finalDepth = 1294.152490;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1294.15249 
#   Seafloor depth:           -1344.152490
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.975540 meters
#   Minimum depth: 1363.062604 meters looking forward 100.000000 meters along route
#   Maximum depth: 1370.326957 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1313.062604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.746727;
longitude = -122.118808;
duration = 209;
initialDepth = 1308.665794;
finalDepth = 1313.062604;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1313.062604 
#   Seafloor depth:           -1363.062604
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 103.488802 meters
#   Minimum depth: 1358.665794 meters looking forward 100.000000 meters along route
#   Maximum depth: 1367.263306 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1308.665794 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.746364;
longitude = -122.119894;
duration = 206;
initialDepth = 1297.252279;
finalDepth = 1308.665794;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.5975120000001
#   Actual altitude:          58.5975120000001
#   Commanded vehicle depth:  1308.665794 
#   Seafloor depth:           -1367.263306
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.232764 meters
#   Minimum depth: 1347.252279 meters looking forward 100.000000 meters along route
#   Maximum depth: 1358.454272 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1297.252279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.746006;
longitude = -122.120965;
duration = 208;
initialDepth = 1298.528834;
finalDepth = 1297.252279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.2019929999999
#   Actual altitude:          61.2019929999999
#   Commanded vehicle depth:  1297.252279 
#   Seafloor depth:           -1358.454272
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.36;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 106.374760 meters
#   Minimum depth: 1348.528834 meters looking forward 100.000000 meters along route
#   Maximum depth: 1358.703993 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1298.528834 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.745645;
longitude = -122.122043;
duration = 212;
initialDepth = 1309.110905;
finalDepth = 1298.528834;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.2019929999999
#   Actual altitude:          61.2019929999999
#   Commanded vehicle depth:  1298.528834 
#   Seafloor depth:           -1348.538252
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.36;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 102.091954 meters
#   Minimum depth: 1359.110905 meters looking forward 100.000000 meters along route
#   Maximum depth: 1384.803018 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1309.110905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.745278;
longitude = -122.123143;
duration = 204;
initialDepth = 1336.048599;
finalDepth = 1309.110905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0094180000001
#   Actual altitude:          50.0094180000001
#   Commanded vehicle depth:  1309.110905 
#   Seafloor depth:           -1359.110905
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.233951 meters
#   Minimum depth: 1386.048599 meters looking forward 100.000000 meters along route
#   Maximum depth: 1409.380221 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1336.048599 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.744925;
longitude = -122.124199;
duration = 208;
initialDepth = 1359.505667;
finalDepth = 1336.048599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1336.048599 
#   Seafloor depth:           -1386.048599
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 107.774013 meters
#   Minimum depth: 1409.505667 meters looking forward 100.000000 meters along route
#   Maximum depth: 1445.115115 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1359.505667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.744564;
longitude = -122.125277;
duration = 215;
initialDepth = 1394.882220;
finalDepth = 1359.505667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1359.505667 
#   Seafloor depth:           -1409.505667
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 100.695075 meters
#   Minimum depth: 1444.882220 meters looking forward 100.000000 meters along route
#   Maximum depth: 1450.606815 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1394.882220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.744191;
longitude = -122.126392;
duration = 201;
initialDepth = 1340.362925;
finalDepth = 1394.882220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4648810000001
#   Actual altitude:          51.4648810000001
#   Commanded vehicle depth:  1394.88222 
#   Seafloor depth:           -1446.347101
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 105.096475 meters
#   Minimum depth: 1390.362925 meters looking forward 100.000000 meters along route
#   Maximum depth: 1443.591853 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1340.362925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.743843;
longitude = -122.127434;
duration = 210;
initialDepth = 1301.729234;
finalDepth = 1340.362925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       103.228928
#   Actual altitude:          100
#   Commanded vehicle depth:  1340.362925 
#   Seafloor depth:           -1443.591853
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 103.374196 meters
#   Minimum depth: 1351.729234 meters looking forward 100.000000 meters along route
#   Maximum depth: 1389.756833 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1301.729234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.743480;
longitude = -122.128521;
duration = 206;
initialDepth = 1285.751932;
finalDepth = 1301.729234;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       103.228928
#   Actual altitude:          100
#   Commanded vehicle depth:  1301.729234 
#   Seafloor depth:           -1389.756833
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.235929 meters
#   Minimum depth: 1335.751932 meters looking forward 100.000000 meters along route
#   Maximum depth: 1350.243625 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1285.751932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.743122;
longitude = -122.129590;
duration = 208;
initialDepth = 1269.187186;
finalDepth = 1285.751932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.027599
#   Actual altitude:          88.027599
#   Commanded vehicle depth:  1285.751932 
#   Seafloor depth:           -1350.243625
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 106.495739 meters
#   Minimum depth: 1319.187186 meters looking forward 100.000000 meters along route
#   Maximum depth: 1335.260362 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1269.187186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.742762;
longitude = -122.130668;
duration = 212;
initialDepth = 1256.091562;
finalDepth = 1269.187186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.0731759999999
#   Actual altitude:          66.0731759999999
#   Commanded vehicle depth:  1269.187186 
#   Seafloor depth:           -1335.260362
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 101.977305 meters
#   Minimum depth: 1306.091562 meters looking forward 100.000000 meters along route
#   Maximum depth: 1318.838061 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1256.091562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.742393;
longitude = -122.131770;
duration = 203;
initialDepth = 1240.675104;
finalDepth = 1256.091562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.0731759999999
#   Actual altitude:          66.0731759999999
#   Commanded vehicle depth:  1256.091562 
#   Seafloor depth:           -1318.792133
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 104.237116 meters
#   Minimum depth: 1290.675104 meters looking forward 100.000000 meters along route
#   Maximum depth: 1305.711041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1240.675104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.742041;
longitude = -122.132824;
duration = 208;
initialDepth = 1230.833760;
finalDepth = 1240.675104;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.0359370000001
#   Actual altitude:          65.0359370000001
#   Commanded vehicle depth:  1240.675104 
#   Seafloor depth:           -1305.711041
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.51;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 107.895037 meters
#   Minimum depth: 1280.833760 meters looking forward 100.000000 meters along route
#   Maximum depth: 1290.932728 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1230.833760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.741680;
longitude = -122.133903;
duration = 215;
initialDepth = 1226.460000;
finalDepth = 1230.833760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.0359370000001
#   Actual altitude:          65.0359370000001
#   Commanded vehicle depth:  1230.83376 
#   Seafloor depth:           -1290.649881
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.51;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 108.314439 meters
#   Minimum depth: 1276.460000 meters looking forward 100.000000 meters along route
#   Maximum depth: 1290.599266 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1226.460000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.741307;
longitude = -122.135019;
duration = 216;
initialDepth = 1212.207316;
finalDepth = 1226.460000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.168281
#   Actual altitude:          62.168281
#   Commanded vehicle depth:  1226.46 
#   Seafloor depth:           -1288.628281
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.65;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 108.314867 meters
#   Minimum depth: 1262.207316 meters looking forward 100.000000 meters along route
#   Maximum depth: 1280.541722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1212.207316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.740932;
longitude = -122.136139;
duration = 216;
initialDepth = 1207.637651;
finalDepth = 1212.207316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.168281
#   Actual altitude:          62.168281
#   Commanded vehicle depth:  1212.207316 
#   Seafloor depth:           -1272.978760
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.65;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 101.117674 meters
#   Minimum depth: 1257.637651 meters looking forward 100.000000 meters along route
#   Maximum depth: 1269.054495 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1207.637651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.740558;
longitude = -122.137259;
duration = 202;
initialDepth = 1207.637651;
finalDepth = 1207.637651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       60.771444
#   Actual altitude:          60.771444
#   Commanded vehicle depth:  1207.637651 
#   Seafloor depth:           -1264.909313
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.23;
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;
}
# 
#######################################################
# 
# 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 59
#   Segment length 85.166243 meters
#   Minimum depth: 1257.637651 meters looking forward 100.000000 meters along route
#   Maximum depth: 1264.473113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1207.637651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.740208;
longitude = -122.138305;
duration = 170;
# abortOnTimeout    = True; 
initialDepth = 1213.715202;
finalDepth = 1207.637651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2716620000001
#   Actual altitude:          57.2716620000001
#   Commanded vehicle depth:  1207.637651 
#   Seafloor depth:           -1258.440735
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.18;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 102.133413 meters
#   Minimum depth: 1263.715202 meters looking forward 100.000000 meters along route
#   Maximum depth: 1272.466251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1213.715202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.739502;
longitude = -122.137931;
duration = 204;
initialDepth = 1219.277609;
finalDepth = 1213.715202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8030839999999
#   Actual altitude:          50.8030839999999
#   Commanded vehicle depth:  1213.715202 
#   Seafloor depth:           -1263.715202
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.24;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 102.475695 meters
#   Minimum depth: 1269.277609 meters looking forward 100.000000 meters along route
#   Maximum depth: 1277.760580 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1219.277609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.738655;
longitude = -122.137483;
duration = 204;
initialDepth = 1219.226916;
finalDepth = 1219.277609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0238810000001
#   Actual altitude:          50.0238810000001
#   Commanded vehicle depth:  1219.277609 
#   Seafloor depth:           -1269.301490
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.01;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 101.791636 meters
#   Minimum depth: 1269.226916 meters looking forward 100.000000 meters along route
#   Maximum depth: 1278.278849 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1219.226916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.737805;
longitude = -122.137034;
duration = 203;
initialDepth = 1226.343977;
finalDepth = 1219.226916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0238810000001
#   Actual altitude:          50.0238810000001
#   Commanded vehicle depth:  1219.226916 
#   Seafloor depth:           -1269.226916
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.01;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 102.133917 meters
#   Minimum depth: 1276.343977 meters looking forward 100.000000 meters along route
#   Maximum depth: 1282.169537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1226.343977 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.736960;
longitude = -122.136587;
duration = 204;
initialDepth = 1231.002866;
finalDepth = 1226.343977;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.566427
#   Actual altitude:          51.566427
#   Commanded vehicle depth:  1226.343977 
#   Seafloor depth:           -1277.910404
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 102.134085 meters
#   Minimum depth: 1281.002866 meters looking forward 100.000000 meters along route
#   Maximum depth: 1290.384268 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1231.002866 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.736113;
longitude = -122.136139;
duration = 204;
initialDepth = 1240.399417;
finalDepth = 1231.002866;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.566427
#   Actual altitude:          51.566427
#   Commanded vehicle depth:  1231.002866 
#   Seafloor depth:           -1281.002866
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.874364 meters
#   Minimum depth: 1290.399417 meters looking forward 100.000000 meters along route
#   Maximum depth: 1299.099762 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1240.399417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.735266;
longitude = -122.135691;
duration = 213;
initialDepth = 1250.126941;
finalDepth = 1240.399417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1240.399417 
#   Seafloor depth:           -1290.399417
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 108.667299 meters
#   Minimum depth: 1300.126941 meters looking forward 100.000000 meters along route
#   Maximum depth: 1309.692463 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1250.126941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.734380;
longitude = -122.135222;
duration = 217;
initialDepth = 1260.395353;
finalDepth = 1250.126941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1250.126941 
#   Seafloor depth:           -1300.126941
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 108.667489 meters
#   Minimum depth: 1310.395353 meters looking forward 100.000000 meters along route
#   Maximum depth: 1316.878472 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1260.395353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.733479;
longitude = -122.134745;
duration = 217;
initialDepth = 1269.046658;
finalDepth = 1260.395353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1260.395353 
#   Seafloor depth:           -1310.395353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 101.464806 meters
#   Minimum depth: 1319.046658 meters looking forward 100.000000 meters along route
#   Maximum depth: 1334.494452 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1269.046658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.732578;
longitude = -122.134268;
duration = 202;
initialDepth = 1285.558075;
finalDepth = 1269.046658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1269.046658 
#   Seafloor depth:           -1319.046658
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 58
#   Segment length 164.772107 meters
#   Minimum depth: 1335.558075 meters looking forward 100.000000 meters along route
#   Maximum depth: 1353.642320 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1285.558075 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.731736;
longitude = -122.133823;
duration = 329;
# abortOnTimeout    = True; 
initialDepth = 1304.478573;
finalDepth = 1285.558075;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1285.558075 
#   Seafloor depth:           -1335.558075
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.490706 meters
#   Minimum depth: 1354.478573 meters looking forward 100.000000 meters along route
#   Maximum depth: 1372.518484 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1304.478573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.732279;
longitude = -122.132106;
duration = 214;
initialDepth = 1325.651745;
finalDepth = 1304.478573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1304.478573 
#   Seafloor depth:           -1354.478573
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.490299 meters
#   Minimum depth: 1375.651745 meters looking forward 100.000000 meters along route
#   Maximum depth: 1390.367870 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1325.651745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.732634;
longitude = -122.130985;
duration = 214;
initialDepth = 1338.963171;
finalDepth = 1325.651745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1325.651745 
#   Seafloor depth:           -1375.651745
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.489893 meters
#   Minimum depth: 1388.963171 meters looking forward 100.000000 meters along route
#   Maximum depth: 1393.047217 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1338.963171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.732989;
longitude = -122.129865;
duration = 214;
initialDepth = 1343.717119;
finalDepth = 1338.963171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4780619999999
#   Actual altitude:          51.4780619999999
#   Commanded vehicle depth:  1338.963171 
#   Seafloor depth:           -1390.441233
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.489486 meters
#   Minimum depth: 1393.717119 meters looking forward 100.000000 meters along route
#   Maximum depth: 1400.766094 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1343.717119 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.733343;
longitude = -122.128745;
duration = 214;
initialDepth = 1349.462555;
finalDepth = 1343.717119;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4780619999999
#   Actual altitude:          51.4780619999999
#   Commanded vehicle depth:  1343.717119 
#   Seafloor depth:           -1393.717119
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.489080 meters
#   Minimum depth: 1399.462555 meters looking forward 100.000000 meters along route
#   Maximum depth: 1408.867679 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1349.462555 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.733698;
longitude = -122.127624;
duration = 214;
initialDepth = 1360.861331;
finalDepth = 1349.462555;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1349.462555 
#   Seafloor depth:           -1399.462555
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.488673 meters
#   Minimum depth: 1410.861331 meters looking forward 100.000000 meters along route
#   Maximum depth: 1419.871758 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1360.861331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.734052;
longitude = -122.126504;
duration = 214;
initialDepth = 1370.241847;
finalDepth = 1360.861331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1360.861331 
#   Seafloor depth:           -1410.861331
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.488266 meters
#   Minimum depth: 1420.241847 meters looking forward 100.000000 meters along route
#   Maximum depth: 1425.895304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1370.241847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.734407;
longitude = -122.125384;
duration = 214;
initialDepth = 1369.813751;
finalDepth = 1370.241847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1370.241847 
#   Seafloor depth:           -1420.241847
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 103.019746 meters
#   Minimum depth: 1419.813751 meters looking forward 100.000000 meters along route
#   Maximum depth: 1426.765666 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1369.813751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.734761;
longitude = -122.124263;
duration = 206;
initialDepth = 1369.018172;
finalDepth = 1369.813751;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.4468670000001
#   Actual altitude:          54.4468670000001
#   Commanded vehicle depth:  1369.813751 
#   Seafloor depth:           -1424.260618
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.33;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.206840 meters
#   Minimum depth: 1419.018172 meters looking forward 100.000000 meters along route
#   Maximum depth: 1422.668877 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1369.018172 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.735101;
longitude = -122.123190;
duration = 202;
initialDepth = 1370.945577;
finalDepth = 1369.018172;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.4468670000001
#   Actual altitude:          54.4468670000001
#   Commanded vehicle depth:  1369.018172 
#   Seafloor depth:           -1421.462341
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.33;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.487088 meters
#   Minimum depth: 1420.945577 meters looking forward 100.000000 meters along route
#   Maximum depth: 1428.834412 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1370.945577 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.735435;
longitude = -122.122135;
duration = 214;
initialDepth = 1372.498693;
finalDepth = 1370.945577;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4441689999999
#   Actual altitude:          52.4441689999999
#   Commanded vehicle depth:  1370.945577 
#   Seafloor depth:           -1420.945577
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.486681 meters
#   Minimum depth: 1422.498693 meters looking forward 100.000000 meters along route
#   Maximum depth: 1433.270619 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1372.498693 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.735789;
longitude = -122.121015;
duration = 214;
initialDepth = 1382.740020;
finalDepth = 1372.498693;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.878457
#   Actual altitude:          55.878457
#   Commanded vehicle depth:  1372.498693 
#   Seafloor depth:           -1428.377150
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.486274 meters
#   Minimum depth: 1432.740020 meters looking forward 100.000000 meters along route
#   Maximum depth: 1437.331334 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1382.740020 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.736144;
longitude = -122.119894;
duration = 214;
initialDepth = 1384.115189;
finalDepth = 1382.740020;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.878457
#   Actual altitude:          55.878457
#   Commanded vehicle depth:  1382.74002 
#   Seafloor depth:           -1432.740020
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.485868 meters
#   Minimum depth: 1434.115189 meters looking forward 100.000000 meters along route
#   Maximum depth: 1442.392551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1384.115189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.736498;
longitude = -122.118774;
duration = 214;
initialDepth = 1389.306803;
finalDepth = 1384.115189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  1384.115189 
#   Seafloor depth:           -1434.115189
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.485462 meters
#   Minimum depth: 1439.306803 meters looking forward 100.000000 meters along route
#   Maximum depth: 1442.419464 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1389.306803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.736853;
longitude = -122.117654;
duration = 214;
initialDepth = 1387.006957;
finalDepth = 1389.306803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.163444
#   Actual altitude:          51.163444
#   Commanded vehicle depth:  1389.306803 
#   Seafloor depth:           -1440.470247
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.485055 meters
#   Minimum depth: 1437.006957 meters looking forward 100.000000 meters along route
#   Maximum depth: 1440.023738 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1387.006957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.737207;
longitude = -122.116533;
duration = 214;
initialDepth = 1385.768742;
finalDepth = 1387.006957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9595769999999
#   Actual altitude:          52.9595769999999
#   Commanded vehicle depth:  1387.006957 
#   Seafloor depth:           -1439.966534
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.89;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.484648 meters
#   Minimum depth: 1435.768742 meters looking forward 100.000000 meters along route
#   Maximum depth: 1439.876361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1385.768742 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.737562;
longitude = -122.115413;
duration = 214;
initialDepth = 1388.193325;
finalDepth = 1385.768742;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.1076190000001
#   Actual altitude:          54.1076190000001
#   Commanded vehicle depth:  1385.768742 
#   Seafloor depth:           -1439.876361
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 102.715271 meters
#   Minimum depth: 1438.193325 meters looking forward 100.000000 meters along route
#   Maximum depth: 1443.466193 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1388.193325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.737917;
longitude = -122.114293;
duration = 205;
initialDepth = 1385.751276;
finalDepth = 1388.193325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.1076190000001
#   Actual altitude:          54.1076190000001
#   Commanded vehicle depth:  1388.193325 
#   Seafloor depth:           -1438.193325
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.504443 meters
#   Minimum depth: 1435.751276 meters looking forward 100.000000 meters along route
#   Maximum depth: 1443.005552 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1385.751276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.738255;
longitude = -122.113222;
duration = 203;
initialDepth = 1390.955466;
finalDepth = 1385.751276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.691313
#   Actual altitude:          54.691313
#   Commanded vehicle depth:  1385.751276 
#   Seafloor depth:           -1440.442589
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.483470 meters
#   Minimum depth: 1440.955466 meters looking forward 100.000000 meters along route
#   Maximum depth: 1444.568016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1390.955466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.738590;
longitude = -122.112164;
duration = 214;
initialDepth = 1394.544538;
finalDepth = 1390.955466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.691313
#   Actual altitude:          54.691313
#   Commanded vehicle depth:  1390.955466 
#   Seafloor depth:           -1441.731677
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.483064 meters
#   Minimum depth: 1444.544538 meters looking forward 100.000000 meters along route
#   Maximum depth: 1448.269005 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1394.544538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.738945;
longitude = -122.111044;
duration = 214;
initialDepth = 1396.494207;
finalDepth = 1394.544538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7762110000001
#   Actual altitude:          50.7762110000001
#   Commanded vehicle depth:  1394.544538 
#   Seafloor depth:           -1445.032600
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.482658 meters
#   Minimum depth: 1446.494207 meters looking forward 100.000000 meters along route
#   Maximum depth: 1452.832297 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1396.494207 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.739299;
longitude = -122.109923;
duration = 214;
initialDepth = 1394.815206;
finalDepth = 1396.494207;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4880619999999
#   Actual altitude:          50.4880619999999
#   Commanded vehicle depth:  1396.494207 
#   Seafloor depth:           -1446.494207
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.482251 meters
#   Minimum depth: 1444.815206 meters looking forward 100.000000 meters along route
#   Maximum depth: 1449.273195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1394.815206 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.739654;
longitude = -122.108803;
duration = 214;
initialDepth = 1387.539995;
finalDepth = 1394.815206;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.457989
#   Actual altitude:          54.457989
#   Commanded vehicle depth:  1394.815206 
#   Seafloor depth:           -1449.273195
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.34;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.481845 meters
#   Minimum depth: 1437.539995 meters looking forward 100.000000 meters along route
#   Maximum depth: 1446.155614 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1387.539995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.740008;
longitude = -122.107683;
duration = 214;
initialDepth = 1384.449145;
finalDepth = 1387.539995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.490491
#   Actual altitude:          58.490491
#   Commanded vehicle depth:  1387.539995 
#   Seafloor depth:           -1446.030486
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.481439 meters
#   Minimum depth: 1434.449145 meters looking forward 100.000000 meters along route
#   Maximum depth: 1441.515293 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1384.449145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.740363;
longitude = -122.106562;
duration = 214;
initialDepth = 1380.108076;
finalDepth = 1384.449145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.490491
#   Actual altitude:          58.490491
#   Commanded vehicle depth:  1384.449145 
#   Seafloor depth:           -1441.515293
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.481033 meters
#   Minimum depth: 1430.108076 meters looking forward 100.000000 meters along route
#   Maximum depth: 1435.072476 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1380.108076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.740717;
longitude = -122.105442;
duration = 214;
initialDepth = 1378.740394;
finalDepth = 1380.108076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.0661479999999
#   Actual altitude:          57.0661479999999
#   Commanded vehicle depth:  1380.108076 
#   Seafloor depth:           -1433.180074
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.12;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 102.410818 meters
#   Minimum depth: 1428.740394 meters looking forward 100.000000 meters along route
#   Maximum depth: 1432.628276 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1378.740394 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.741072;
longitude = -122.104322;
duration = 204;
initialDepth = 1373.298485;
finalDepth = 1378.740394;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1966620000001
#   Actual altitude:          53.1966620000001
#   Commanded vehicle depth:  1378.740394 
#   Seafloor depth:           -1431.937056
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.96;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.802026 meters
#   Minimum depth: 1423.298485 meters looking forward 100.000000 meters along route
#   Maximum depth: 1432.194324 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1373.298485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.741410;
longitude = -122.103254;
duration = 203;
initialDepth = 1334.923831;
finalDepth = 1373.298485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8866419999999
#   Actual altitude:          58.8866419999999
#   Commanded vehicle depth:  1373.298485 
#   Seafloor depth:           -1432.185127
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.67;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 107.479855 meters
#   Minimum depth: 1384.923831 meters looking forward 100.000000 meters along route
#   Maximum depth: 1425.377636 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1334.923831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.741745;
longitude = -122.102193;
duration = 214;
initialDepth = 1310.564479;
finalDepth = 1334.923831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.4538049999999
#   Actual altitude:          90.4538049999999
#   Commanded vehicle depth:  1334.923831 
#   Seafloor depth:           -1425.377636
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 100.345696 meters
#   Minimum depth: 1360.564479 meters looking forward 100.000000 meters along route
#   Maximum depth: 1382.505119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1310.564479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.742100;
longitude = -122.101073;
duration = 200;
initialDepth = 1309.439815;
finalDepth = 1310.564479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       90.4538049999999
#   Actual altitude:          90.4538049999999
#   Commanded vehicle depth:  1310.564479 
#   Seafloor depth:           -1382.505119
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.14;
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;
}
# 
#######################################################
# 
# 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 57
#   Segment length 83.731972 meters
#   Minimum depth: 1359.439815 meters looking forward 100.000000 meters along route
#   Maximum depth: 1367.101229 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1309.439815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.742431;
longitude = -122.100027;
duration = 167;
# abortOnTimeout    = True; 
initialDepth = 1288.112636;
finalDepth = 1309.439815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.94064
#   Actual altitude:          71.94064
#   Commanded vehicle depth:  1309.439815 
#   Seafloor depth:           -1361.826233
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.58;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 103.486826 meters
#   Minimum depth: 1338.112636 meters looking forward 100.000000 meters along route
#   Maximum depth: 1360.202157 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1288.112636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.742987;
longitude = -122.099392;
duration = 206;
initialDepth = 1261.023188;
finalDepth = 1288.112636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.0895209999999
#   Actual altitude:          72.0895209999999
#   Commanded vehicle depth:  1288.112636 
#   Seafloor depth:           -1360.202157
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.63;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.970126 meters
#   Minimum depth: 1311.023188 meters looking forward 100.000000 meters along route
#   Maximum depth: 1338.240573 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1261.023188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.743674;
longitude = -122.098608;
duration = 213;
initialDepth = 1243.203879;
finalDepth = 1261.023188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.2173850000001
#   Actual altitude:          77.2173850000001
#   Commanded vehicle depth:  1261.023188 
#   Seafloor depth:           -1338.240573
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.17;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 100.002322 meters
#   Minimum depth: 1293.203879 meters looking forward 100.000000 meters along route
#   Maximum depth: 1310.116960 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1243.203879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.744384;
longitude = -122.097798;
duration = 200;
initialDepth = 1224.458359;
finalDepth = 1243.203879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.2173850000001
#   Actual altitude:          77.2173850000001
#   Commanded vehicle depth:  1243.203879 
#   Seafloor depth:           -1310.116960
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.17;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 103.657577 meters
#   Minimum depth: 1274.458359 meters looking forward 100.000000 meters along route
#   Maximum depth: 1293.639087 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1224.458359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.745048;
longitude = -122.097040;
duration = 207;
initialDepth = 1209.144631;
finalDepth = 1224.458359;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.180728
#   Actual altitude:          69.180728
#   Commanded vehicle depth:  1224.458359 
#   Seafloor depth:           -1293.639087
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.75;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 103.313265 meters
#   Minimum depth: 1259.144631 meters looking forward 100.000000 meters along route
#   Maximum depth: 1274.441781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1209.144631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.745736;
longitude = -122.096254;
duration = 206;
initialDepth = 1198.103742;
finalDepth = 1209.144631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.180728
#   Actual altitude:          69.180728
#   Commanded vehicle depth:  1209.144631 
#   Seafloor depth:           -1274.441781
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.75;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 103.484819 meters
#   Minimum depth: 1248.103742 meters looking forward 100.000000 meters along route
#   Maximum depth: 1255.927049 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1198.103742 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.746421;
longitude = -122.095471;
duration = 206;
initialDepth = 1186.637319;
finalDepth = 1198.103742;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.2971500000001
#   Actual altitude:          65.2971500000001
#   Commanded vehicle depth:  1198.103742 
#   Seafloor depth:           -1255.927049
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.59;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 105.477409 meters
#   Minimum depth: 1236.637319 meters looking forward 100.000000 meters along route
#   Maximum depth: 1248.321153 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1186.637319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747108;
longitude = -122.094687;
duration = 210;
initialDepth = 1173.371174;
finalDepth = 1186.637319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.6838340000002
#   Actual altitude:          61.6838340000002
#   Commanded vehicle depth:  1186.637319 
#   Seafloor depth:           -1248.321153
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.51;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 101.491024 meters
#   Minimum depth: 1223.371174 meters looking forward 100.000000 meters along route
#   Maximum depth: 1236.103775 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1173.371174 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.747808;
longitude = -122.093888;
duration = 202;
initialDepth = 1167.699612;
finalDepth = 1173.371174;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.7326009999999
#   Actual altitude:          62.7326009999999
#   Commanded vehicle depth:  1173.371174 
#   Seafloor depth:           -1236.103775
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 103.483615 meters
#   Minimum depth: 1217.699612 meters looking forward 100.000000 meters along route
#   Maximum depth: 1226.298402 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1167.699612 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.748482;
longitude = -122.093119;
duration = 206;
initialDepth = 1167.949687;
finalDepth = 1167.699612;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.7326009999999
#   Actual altitude:          62.7326009999999
#   Commanded vehicle depth:  1167.699612 
#   Seafloor depth:           -1222.486956
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 103.483213 meters
#   Minimum depth: 1217.949687 meters looking forward 100.000000 meters along route
#   Maximum depth: 1220.975283 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1167.949687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749169;
longitude = -122.092334;
duration = 206;
initialDepth = 1155.273932;
finalDepth = 1167.949687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7873440000001
#   Actual altitude:          54.7873440000001
#   Commanded vehicle depth:  1167.949687 
#   Seafloor depth:           -1217.999448
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 103.482812 meters
#   Minimum depth: 1205.273932 meters looking forward 100.000000 meters along route
#   Maximum depth: 1214.545434 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1155.273932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.749856;
longitude = -122.091550;
duration = 206;
initialDepth = 1151.443036;
finalDepth = 1155.273932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.474784
#   Actual altitude:          58.474784
#   Commanded vehicle depth:  1155.273932 
#   Seafloor depth:           -1213.748716
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 108.475276 meters
#   Minimum depth: 1201.443036 meters looking forward 100.000000 meters along route
#   Maximum depth: 1209.543572 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1151.443036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.750543;
longitude = -122.090766;
duration = 216;
initialDepth = 1150.604376;
finalDepth = 1151.443036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.474784
#   Actual altitude:          58.474784
#   Commanded vehicle depth:  1151.443036 
#   Seafloor depth:           -1208.598161
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.54;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 56
#   Segment length 163.942660 meters
#   Minimum depth: 1200.604376 meters looking forward 100.000000 meters along route
#   Maximum depth: 1213.496071 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1150.604376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751263;
longitude = -122.089944;
duration = 327;
# abortOnTimeout    = True; 
initialDepth = 1143.032760;
finalDepth = 1150.604376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.155125
#   Actual altitude:          57.155125
#   Commanded vehicle depth:  1150.604376 
#   Seafloor depth:           -1205.964874
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.15;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.630880 meters
#   Minimum depth: 1193.032760 meters looking forward 100.000000 meters along route
#   Maximum depth: 1210.051984 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1143.032760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.751924;
longitude = -122.088301;
duration = 201;
initialDepth = 1122.613491;
finalDepth = 1143.032760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.47299
#   Actual altitude:          65.47299
#   Commanded vehicle depth:  1143.03276 
#   Seafloor depth:           -1208.505750
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.64;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.630476 meters
#   Minimum depth: 1172.613491 meters looking forward 100.000000 meters along route
#   Maximum depth: 1192.315437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1122.613491 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752329;
longitude = -122.087293;
duration = 201;
initialDepth = 1097.712724;
finalDepth = 1122.613491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.7019459999999
#   Actual altitude:          69.7019459999999
#   Commanded vehicle depth:  1122.613491 
#   Seafloor depth:           -1192.315437
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.91;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.630071 meters
#   Minimum depth: 1147.712724 meters looking forward 100.000000 meters along route
#   Maximum depth: 1167.693230 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1097.712724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.752735;
longitude = -122.086285;
duration = 201;
initialDepth = 1087.017752;
finalDepth = 1097.712724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.76918
#   Actual altitude:          69.76918
#   Commanded vehicle depth:  1097.712724 
#   Seafloor depth:           -1167.481904
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.93;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.629667 meters
#   Minimum depth: 1137.017752 meters looking forward 100.000000 meters along route
#   Maximum depth: 1148.647982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1087.017752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753141;
longitude = -122.085277;
duration = 201;
initialDepth = 1085.265746;
finalDepth = 1087.017752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.76918
#   Actual altitude:          69.76918
#   Commanded vehicle depth:  1087.017752 
#   Seafloor depth:           -1148.647982
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.93;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.629263 meters
#   Minimum depth: 1135.265746 meters looking forward 100.000000 meters along route
#   Maximum depth: 1141.024170 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1085.265746 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753546;
longitude = -122.084268;
duration = 201;
initialDepth = 1088.710057;
finalDepth = 1085.265746;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.63023
#   Actual altitude:          61.63023
#   Commanded vehicle depth:  1085.265746 
#   Seafloor depth:           -1141.024170
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.49;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.628859 meters
#   Minimum depth: 1138.710057 meters looking forward 100.000000 meters along route
#   Maximum depth: 1141.391112 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1088.710057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.753952;
longitude = -122.083260;
duration = 201;
initialDepth = 1081.879903;
finalDepth = 1088.710057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7584239999999
#   Actual altitude:          55.7584239999999
#   Commanded vehicle depth:  1088.710057 
#   Seafloor depth:           -1140.105810
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.628454 meters
#   Minimum depth: 1131.879903 meters looking forward 100.000000 meters along route
#   Maximum depth: 1139.456316 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1081.879903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754357;
longitude = -122.082252;
duration = 201;
initialDepth = 1074.065870;
finalDepth = 1081.879903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5095140000001
#   Actual altitude:          57.5095140000001
#   Commanded vehicle depth:  1081.879903 
#   Seafloor depth:           -1139.389417
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.628051 meters
#   Minimum depth: 1124.065870 meters looking forward 100.000000 meters along route
#   Maximum depth: 1133.901794 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1074.065870 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.754763;
longitude = -122.081243;
duration = 201;
initialDepth = 1051.507310;
finalDepth = 1074.065870;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5095140000001
#   Actual altitude:          57.5095140000001
#   Commanded vehicle depth:  1074.06587 
#   Seafloor depth:           -1130.738597
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.627645 meters
#   Minimum depth: 1101.507310 meters looking forward 100.000000 meters along route
#   Maximum depth: 1127.264231 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1051.507310 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755169;
longitude = -122.080235;
duration = 201;
initialDepth = 1032.289747;
finalDepth = 1051.507310;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.7569210000001
#   Actual altitude:          75.7569210000001
#   Commanded vehicle depth:  1051.50731 
#   Seafloor depth:           -1127.264231
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.627242 meters
#   Minimum depth: 1082.289747 meters looking forward 100.000000 meters along route
#   Maximum depth: 1101.928724 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1032.289747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755574;
longitude = -122.079227;
duration = 201;
initialDepth = 1023.934656;
finalDepth = 1032.289747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.7569210000001
#   Actual altitude:          75.7569210000001
#   Commanded vehicle depth:  1032.289747 
#   Seafloor depth:           -1101.856260
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.626838 meters
#   Minimum depth: 1073.934656 meters looking forward 100.000000 meters along route
#   Maximum depth: 1084.654222 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1023.934656 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.755980;
longitude = -122.078219;
duration = 201;
initialDepth = 1020.552512;
finalDepth = 1023.934656;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.566513
#   Actual altitude:          69.566513
#   Commanded vehicle depth:  1023.934656 
#   Seafloor depth:           -1084.654222
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.87;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.626433 meters
#   Minimum depth: 1070.552512 meters looking forward 100.000000 meters along route
#   Maximum depth: 1077.160345 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1020.552512 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756385;
longitude = -122.077210;
duration = 201;
initialDepth = 1000.100696;
finalDepth = 1020.552512;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.719566
#   Actual altitude:          60.719566
#   Commanded vehicle depth:  1020.552512 
#   Seafloor depth:           -1073.481880
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.626029 meters
#   Minimum depth: 1050.100696 meters looking forward 100.000000 meters along route
#   Maximum depth: 1077.527123 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1000.100696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.756791;
longitude = -122.076202;
duration = 201;
initialDepth = 976.898999;
finalDepth = 1000.100696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.4264270000001
#   Actual altitude:          77.4264270000001
#   Commanded vehicle depth:  1000.100696 
#   Seafloor depth:           -1077.527123
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.625626 meters
#   Minimum depth: 1026.898999 meters looking forward 100.000000 meters along route
#   Maximum depth: 1047.774138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 976.898999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757197;
longitude = -122.075194;
duration = 201;
initialDepth = 949.377213;
finalDepth = 976.898999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.4264270000001
#   Actual altitude:          77.4264270000001
#   Commanded vehicle depth:  976.898999 
#   Seafloor depth:           -1046.881012
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.625221 meters
#   Minimum depth: 999.377213 meters looking forward 100.000000 meters along route
#   Maximum depth: 1022.669720 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 949.377213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.757602;
longitude = -122.074185;
duration = 201;
initialDepth = 939.685671;
finalDepth = 949.377213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.292507
#   Actual altitude:          73.292507
#   Commanded vehicle depth:  949.377213 
#   Seafloor depth:           -1022.669720
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.99;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 100.624817 meters
#   Minimum depth: 989.685671 meters looking forward 100.000000 meters along route
#   Maximum depth: 1008.485093 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 939.685671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758008;
longitude = -122.073177;
duration = 201;
initialDepth = 919.451563;
finalDepth = 939.685671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.292507
#   Actual altitude:          73.292507
#   Commanded vehicle depth:  939.685671 
#   Seafloor depth:           -998.626940
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.99;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 104.371361 meters
#   Minimum depth: 969.451563 meters looking forward 100.000000 meters along route
#   Maximum depth: 996.099139 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 919.451563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758413;
longitude = -122.072169;
duration = 208;
initialDepth = 913.026960;
finalDepth = 919.451563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       75.311231
#   Actual altitude:          75.311231
#   Commanded vehicle depth:  919.451563 
#   Seafloor depth:           -994.762794
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.59;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 55
#   Segment length 162.547465 meters
#   Minimum depth: 963.026960 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.669672 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 913.026960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.758834;
longitude = -122.071123;
duration = 325;
# abortOnTimeout    = True; 
initialDepth = 900.061985;
finalDepth = 913.026960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.311231
#   Actual altitude:          75.311231
#   Commanded vehicle depth:  913.02696 
#   Seafloor depth:           -968.220779
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.59;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 108.041883 meters
#   Minimum depth: 950.061985 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.522792 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 900.061985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760065;
longitude = -122.070136;
duration = 216;
initialDepth = 859.230112;
finalDepth = 900.061985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.20277
#   Actual altitude:          62.20277
#   Commanded vehicle depth:  900.061985 
#   Seafloor depth:           -962.264755
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.66;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 110.708662 meters
#   Minimum depth: 909.230112 meters looking forward 100.000000 meters along route
#   Maximum depth: 958.535405 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 859.230112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.760884;
longitude = -122.069480;
duration = 221;
initialDepth = 838.651533;
finalDepth = 859.230112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.305293
#   Actual altitude:          99.305293
#   Commanded vehicle depth:  859.230112 
#   Seafloor depth:           -958.535405
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.79;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 102.467171 meters
#   Minimum depth: 888.651533 meters looking forward 100.000000 meters along route
#   Maximum depth: 911.610532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 838.651533 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.761722;
longitude = -122.068808;
duration = 204;
initialDepth = 817.538628;
finalDepth = 838.651533;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.305293
#   Actual altitude:          99.305293
#   Commanded vehicle depth:  838.651533 
#   Seafloor depth:           -911.610532
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.79;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 107.071955 meters
#   Minimum depth: 867.538628 meters looking forward 100.000000 meters along route
#   Maximum depth: 883.337210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 817.538628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.762499;
longitude = -122.068186;
duration = 214;
initialDepth = 808.411503;
finalDepth = 817.538628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.9589990000001
#   Actual altitude:          72.9589990000001
#   Commanded vehicle depth:  817.538628 
#   Seafloor depth:           -883.337210
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.89;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 107.071647 meters
#   Minimum depth: 858.411503 meters looking forward 100.000000 meters along route
#   Maximum depth: 867.579878 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 808.411503 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.763310;
longitude = -122.067536;
duration = 214;
initialDepth = 795.076272;
finalDepth = 808.411503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.798582
#   Actual altitude:          65.798582
#   Commanded vehicle depth:  808.411503 
#   Seafloor depth:           -867.579878
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.74;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 107.769380 meters
#   Minimum depth: 845.076272 meters looking forward 100.000000 meters along route
#   Maximum depth: 860.848186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 795.076272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764121;
longitude = -122.066886;
duration = 215;
initialDepth = 773.767781;
finalDepth = 795.076272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.687243
#   Actual altitude:          62.687243
#   Commanded vehicle depth:  795.076272 
#   Seafloor depth:           -857.763515
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 110.707070 meters
#   Minimum depth: 823.767781 meters looking forward 100.000000 meters along route
#   Maximum depth: 851.563886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.767781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.764937;
longitude = -122.066231;
duration = 221;
initialDepth = 759.983944;
finalDepth = 773.767781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.3980329999999
#   Actual altitude:          71.3980329999999
#   Commanded vehicle depth:  773.767781 
#   Seafloor depth:           -845.165814
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.42;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 102.736640 meters
#   Minimum depth: 809.983944 meters looking forward 100.000000 meters along route
#   Maximum depth: 827.963882 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 759.983944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.765776;
longitude = -122.065559;
duration = 205;
initialDepth = 733.471187;
finalDepth = 759.983944;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.3980329999999
#   Actual altitude:          71.3980329999999
#   Commanded vehicle depth:  759.983944 
#   Seafloor depth:           -824.737803
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.42;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 100.225465 meters
#   Minimum depth: 783.471187 meters looking forward 100.000000 meters along route
#   Maximum depth: 808.404360 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 733.471187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.766554;
longitude = -122.064935;
duration = 200;
initialDepth = 701.979613;
finalDepth = 733.471187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.933173
#   Actual altitude:          74.933173
#   Commanded vehicle depth:  733.471187 
#   Seafloor depth:           -808.404360
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 102.018391 meters
#   Minimum depth: 751.979613 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.219404 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 701.979613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.767314;
longitude = -122.064327;
duration = 204;
initialDepth = 671.303243;
finalDepth = 701.979613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.2397910000001
#   Actual altitude:          79.2397910000001
#   Commanded vehicle depth:  701.979613 
#   Seafloor depth:           -781.219404
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 107.069832 meters
#   Minimum depth: 721.303243 meters looking forward 100.000000 meters along route
#   Maximum depth: 747.242814 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 671.303243 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768086;
longitude = -122.063707;
duration = 214;
initialDepth = 653.129821;
finalDepth = 671.303243;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.2397910000001
#   Actual altitude:          79.2397910000001
#   Commanded vehicle depth:  671.303243 
#   Seafloor depth:           -747.242814
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 107.069523 meters
#   Minimum depth: 703.129821 meters looking forward 100.000000 meters along route
#   Maximum depth: 720.814440 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 653.129821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.768898;
longitude = -122.063057;
duration = 214;
initialDepth = 625.802587;
finalDepth = 653.129821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.939571
#   Actual altitude:          75.939571
#   Commanded vehicle depth:  653.129821 
#   Seafloor depth:           -720.814440
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.78;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 108.213984 meters
#   Minimum depth: 675.802587 meters looking forward 100.000000 meters along route
#   Maximum depth: 702.719263 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 625.802587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.769709;
longitude = -122.062407;
duration = 216;
initialDepth = 577.615850;
finalDepth = 625.802587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.9166759999999
#   Actual altitude:          76.9166759999999
#   Commanded vehicle depth:  625.802587 
#   Seafloor depth:           -702.719263
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 110.704873 meters
#   Minimum depth: 627.615850 meters looking forward 100.000000 meters along route
#   Maximum depth: 675.616708 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 577.615850 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.770528;
longitude = -122.061750;
duration = 221;
initialDepth = 556.635961;
finalDepth = 577.615850;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.000858
#   Actual altitude:          98.000858
#   Commanded vehicle depth:  577.61585 
#   Seafloor depth:           -675.616708
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 102.287863 meters
#   Minimum depth: 606.635961 meters looking forward 100.000000 meters along route
#   Maximum depth: 626.351225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 556.635961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.771367;
longitude = -122.061078;
duration = 204;
initialDepth = 526.583870;
finalDepth = 556.635961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.000858
#   Actual altitude:          98.000858
#   Commanded vehicle depth:  556.635961 
#   Seafloor depth:           -626.351225
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 100.670214 meters
#   Minimum depth: 576.583870 meters looking forward 100.000000 meters along route
#   Maximum depth: 602.494662 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 526.583870 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772142;
longitude = -122.060457;
duration = 201;
initialDepth = 506.417821;
finalDepth = 526.583870;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.9107919999999
#   Actual altitude:          75.9107919999999
#   Commanded vehicle depth:  526.58387 
#   Seafloor depth:           -602.494662
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 101.569630 meters
#   Minimum depth: 556.417821 meters looking forward 100.000000 meters along route
#   Maximum depth: 576.317783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 506.417821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.772905;
longitude = -122.059845;
duration = 203;
initialDepth = 481.198769;
finalDepth = 506.417821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.9107919999999
#   Actual altitude:          75.9107919999999
#   Commanded vehicle depth:  506.417821 
#   Seafloor depth:           -576.317783
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 101.387339 meters
#   Minimum depth: 531.198769 meters looking forward 100.000000 meters along route
#   Maximum depth: 554.659797 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 481.198769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.773674;
longitude = -122.059229;
duration = 202;
initialDepth = 453.318522;
finalDepth = 481.198769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.4610280000001
#   Actual altitude:          73.4610280000001
#   Commanded vehicle depth:  481.198769 
#   Seafloor depth:           -554.659797
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 100.851406 meters
#   Minimum depth: 503.318522 meters looking forward 100.000000 meters along route
#   Maximum depth: 529.418106 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 453.318522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.774442;
longitude = -122.058613;
duration = 201;
initialDepth = 422.819506;
finalDepth = 453.318522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.030503
#   Actual altitude:          76.030503
#   Commanded vehicle depth:  453.318522 
#   Seafloor depth:           -529.349025
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 107.067126 meters
#   Minimum depth: 472.819506 meters looking forward 100.000000 meters along route
#   Maximum depth: 500.687050 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 422.819506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.775206;
longitude = -122.058001;
duration = 214;
initialDepth = 392.254667;
finalDepth = 422.819506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.867544
#   Actual altitude:          77.867544
#   Commanded vehicle depth:  422.819506 
#   Seafloor depth:           -500.687050
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.36;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 107.066817 meters
#   Minimum depth: 442.254667 meters looking forward 100.000000 meters along route
#   Maximum depth: 471.744008 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 392.254667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776017;
longitude = -122.057351;
duration = 214;
initialDepth = 356.855416;
finalDepth = 392.254667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.247088
#   Actual altitude:          79.247088
#   Commanded vehicle depth:  392.254667 
#   Seafloor depth:           -471.501755
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 103.165710 meters
#   Minimum depth: 406.855416 meters looking forward 100.000000 meters along route
#   Maximum depth: 441.751672 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 356.855416 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.776828;
longitude = -122.056700;
duration = 206;
initialDepth = 306.393889;
finalDepth = 356.855416;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       84.896256
#   Actual altitude:          84.896256
#   Commanded vehicle depth:  356.855416 
#   Seafloor depth:           -441.751672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.47;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 54
#   Segment length 113.770163 meters
#   Minimum depth: 356.393889 meters looking forward 100.000000 meters along route
#   Maximum depth: 404.280327 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 306.393889 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777610;
longitude = -122.056074;
duration = 227;
# abortOnTimeout    = True; 
initialDepth = 287.316441;
finalDepth = 306.393889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.886438
#   Actual altitude:          97.886438
#   Commanded vehicle depth:  306.393889 
#   Seafloor depth:           -404.280327
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.37;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433582 meters
#   Minimum depth: 337.316441 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.586699 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 287.316441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778631;
longitude = -122.055953;
duration = 200;
initialDepth = 281.051348;
finalDepth = 287.316441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.886438
#   Actual altitude:          97.886438
#   Commanded vehicle depth:  287.316441 
#   Seafloor depth:           -353.879182
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.37;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433589 meters
#   Minimum depth: 331.051348 meters looking forward 100.000000 meters along route
#   Maximum depth: 340.740132 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 281.051348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779532;
longitude = -122.055847;
duration = 200;
initialDepth = 267.593747;
finalDepth = 281.051348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.562741
#   Actual altitude:          66.562741
#   Commanded vehicle depth:  281.051348 
#   Seafloor depth:           -335.692996
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.97;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433595 meters
#   Minimum depth: 317.593747 meters looking forward 100.000000 meters along route
#   Maximum depth: 331.291145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 267.593747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780433;
longitude = -122.055740;
duration = 200;
initialDepth = 250.525516;
finalDepth = 267.593747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.697398
#   Actual altitude:          63.697398
#   Commanded vehicle depth:  267.593747 
#   Seafloor depth:           -331.291145
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433601 meters
#   Minimum depth: 300.525516 meters looking forward 100.000000 meters along route
#   Maximum depth: 314.190906 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 250.525516 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781335;
longitude = -122.055634;
duration = 200;
initialDepth = 227.042760;
finalDepth = 250.525516;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.697398
#   Actual altitude:          63.697398
#   Commanded vehicle depth:  250.525516 
#   Seafloor depth:           -314.190906
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433608 meters
#   Minimum depth: 277.042760 meters looking forward 100.000000 meters along route
#   Maximum depth: 298.832015 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 227.042760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782236;
longitude = -122.055527;
duration = 200;
initialDepth = 214.571630;
finalDepth = 227.042760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.789255
#   Actual altitude:          71.789255
#   Commanded vehicle depth:  227.04276 
#   Seafloor depth:           -298.832015
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433614 meters
#   Minimum depth: 264.571630 meters looking forward 100.000000 meters along route
#   Maximum depth: 275.342604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 214.571630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783137;
longitude = -122.055421;
duration = 200;
initialDepth = 208.897180;
finalDepth = 214.571630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.789255
#   Actual altitude:          71.789255
#   Commanded vehicle depth:  214.57163 
#   Seafloor depth:           -274.996767
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433620 meters
#   Minimum depth: 258.897180 meters looking forward 100.000000 meters along route
#   Maximum depth: 267.211125 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.897180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784038;
longitude = -122.055314;
duration = 200;
initialDepth = 191.959725;
finalDepth = 208.897180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4251369999999
#   Actual altitude:          60.4251369999999
#   Commanded vehicle depth:  208.89718 
#   Seafloor depth:           -267.211125
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.13;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.433627 meters
#   Minimum depth: 241.959725 meters looking forward 100.000000 meters along route
#   Maximum depth: 258.257546 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.959725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784940;
longitude = -122.055208;
duration = 200;
initialDepth = 171.832002;
finalDepth = 191.959725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.297821
#   Actual altitude:          66.297821
#   Commanded vehicle depth:  191.959725 
#   Seafloor depth:           -258.257546
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.89;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 103.767279 meters
#   Minimum depth: 221.832002 meters looking forward 100.000000 meters along route
#   Maximum depth: 239.756991 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 171.832002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785841;
longitude = -122.055101;
duration = 207;
initialDepth = 168.574929;
finalDepth = 171.832002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       67.924989
#   Actual altitude:          67.924989
#   Commanded vehicle depth:  171.832002 
#   Seafloor depth:           -239.756991
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.38;
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;
}
# 
#######################################################
# 
# 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 53
#   Segment length 171.158892 meters
#   Minimum depth: 218.574929 meters looking forward 100.000000 meters along route
#   Maximum depth: 222.988190 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.574929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786772;
longitude = -122.054991;
duration = 342;
# abortOnTimeout    = True; 
initialDepth = 155.710340;
finalDepth = 168.574929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.924989
#   Actual altitude:          67.924989
#   Commanded vehicle depth:  168.574929 
#   Seafloor depth:           -221.944923
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.38;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 101.929825 meters
#   Minimum depth: 205.710340 meters looking forward 100.000000 meters along route
#   Maximum depth: 217.727293 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 155.710340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788184;
longitude = -122.054218;
duration = 203;
initialDepth = 138.547970;
finalDepth = 155.710340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.016953
#   Actual altitude:          62.016953
#   Commanded vehicle depth:  155.71034 
#   Seafloor depth:           -217.727293
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.61;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 52
#   Segment length 106.857955 meters
#   Minimum depth: 188.547970 meters looking forward 100.000000 meters along route
#   Maximum depth: 205.375511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 138.547970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789025;
longitude = -122.053758;
duration = 213;
# abortOnTimeout    = True; 
initialDepth = 121.173153;
finalDepth = 138.547970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.827541
#   Actual altitude:          66.827541
#   Commanded vehicle depth:  138.54797 
#   Seafloor depth:           -205.375511
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.05;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 100.155451 meters
#   Minimum depth: 171.173153 meters looking forward 100.000000 meters along route
#   Maximum depth: 186.867990 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.173153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789987;
longitude = -122.053828;
duration = 200;
initialDepth = 106.549215;
finalDepth = 121.173153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.827541
#   Actual altitude:          66.827541
#   Commanded vehicle depth:  121.173153 
#   Seafloor depth:           -186.867990
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.05;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 100.155460 meters
#   Minimum depth: 156.549215 meters looking forward 100.000000 meters along route
#   Maximum depth: 169.928703 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 106.549215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790888;
longitude = -122.053894;
duration = 200;
initialDepth = 96.304259;
finalDepth = 106.549215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.694837
#   Actual altitude:          65.694837
#   Commanded vehicle depth:  106.549215 
#   Seafloor depth:           -169.928703
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 100.155470 meters
#   Minimum depth: 146.304259 meters looking forward 100.000000 meters along route
#   Maximum depth: 154.909724 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 96.304259 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791789;
longitude = -122.053960;
duration = 200;
initialDepth = 85.023509;
finalDepth = 96.304259;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.379488
#   Actual altitude:          63.379488
#   Commanded vehicle depth:  96.304259 
#   Seafloor depth:           -154.909724
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.01;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 103.543090 meters
#   Minimum depth: 135.023509 meters looking forward 100.000000 meters along route
#   Maximum depth: 145.283319 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 85.023509 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792690;
longitude = -122.054026;
duration = 207;
initialDepth = 72.577427;
finalDepth = 85.023509;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       60.25981
#   Actual altitude:          60.25981
#   Commanded vehicle depth:  85.023509 
#   Seafloor depth:           -145.283319
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.08;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 51
#   Segment length 162.850304 meters
#   Minimum depth: 122.577427 meters looking forward 100.000000 meters along route
#   Maximum depth: 134.491207 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.577427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793622;
longitude = -122.054094;
duration = 325;
# abortOnTimeout    = True; 
initialDepth = 69.139935;
finalDepth = 72.577427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.91378
#   Actual altitude:          61.91378
#   Commanded vehicle depth:  72.577427 
#   Seafloor depth:           -134.491207
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.57;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 103.979444 meters
#   Minimum depth: 119.139935 meters looking forward 100.000000 meters along route
#   Maximum depth: 122.059924 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.139935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795034;
longitude = -122.053593;
duration = 207;
initialDepth = 65.213671;
finalDepth = 69.139935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.91378
#   Actual altitude:          61.91378
#   Commanded vehicle depth:  69.139935 
#   Seafloor depth:           -122.059924
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.57;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 103.979373 meters
#   Minimum depth: 115.213671 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.822174 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.213671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795935;
longitude = -122.053273;
duration = 207;
initialDepth = 61.238187;
finalDepth = 65.213671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.608503
#   Actual altitude:          53.608503
#   Commanded vehicle depth:  65.213671 
#   Seafloor depth:           -118.822174
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 103.979302 meters
#   Minimum depth: 111.238187 meters looking forward 100.000000 meters along route
#   Maximum depth: 115.307802 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.238187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796836;
longitude = -122.052953;
duration = 207;
initialDepth = 60.304104;
finalDepth = 61.238187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.069615
#   Actual altitude:          54.069615
#   Commanded vehicle depth:  61.238187 
#   Seafloor depth:           -115.307802
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 107.502010 meters
#   Minimum depth: 110.304104 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.882501 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.304104 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797737;
longitude = -122.052633;
duration = 215;
initialDepth = 58.457537;
finalDepth = 60.304104;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.069615
#   Actual altitude:          54.069615
#   Commanded vehicle depth:  60.304104 
#   Seafloor depth:           -110.882501
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.22;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 50
#   Segment length 152.568997 meters
#   Minimum depth: 108.457537 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.864997 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.457537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798669;
longitude = -122.052302;
duration = 305;
# abortOnTimeout    = True; 
initialDepth = 57.614080;
finalDepth = 58.457537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.117698
#   Actual altitude:          52.117698
#   Commanded vehicle depth:  58.457537 
#   Seafloor depth:           -110.575235
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.720944 meters
#   Minimum depth: 107.614080 meters looking forward 100.000000 meters along route
#   Maximum depth: 109.137539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.614080 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799720;
longitude = -122.051199;
duration = 211;
initialDepth = 59.177028;
finalDepth = 57.614080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.117698
#   Actual altitude:          52.117698
#   Commanded vehicle depth:  57.61408 
#   Seafloor depth:           -108.353548
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 103.613230 meters
#   Minimum depth: 109.177028 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.291499 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.177028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800448;
longitude = -122.050435;
duration = 207;
initialDepth = 59.990499;
finalDepth = 59.177028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.739468
#   Actual altitude:          50.739468
#   Commanded vehicle depth:  59.177028 
#   Seafloor depth:           -109.177028
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 104.666508 meters
#   Minimum depth: 109.990499 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.040526 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.990499 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801162;
longitude = -122.049686;
duration = 209;
initialDepth = 59.130725;
finalDepth = 59.990499;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.050027
#   Actual altitude:          51.050027
#   Commanded vehicle depth:  59.990499 
#   Seafloor depth:           -111.040526
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 104.666122 meters
#   Minimum depth: 109.130725 meters looking forward 100.000000 meters along route
#   Maximum depth: 109.847310 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.130725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801883;
longitude = -122.048929;
duration = 209;
initialDepth = 58.218719;
finalDepth = 59.130725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.050027
#   Actual altitude:          51.050027
#   Commanded vehicle depth:  59.130725 
#   Seafloor depth:           -109.847310
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 100.322394 meters
#   Minimum depth: 108.218719 meters looking forward 100.000000 meters along route
#   Maximum depth: 109.564201 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.218719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802604;
longitude = -122.048172;
duration = 200;
initialDepth = 58.434256;
finalDepth = 58.218719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.345482
#   Actual altitude:          51.345482
#   Commanded vehicle depth:  58.218719 
#   Seafloor depth:           -109.564201
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 49
#   Segment length 167.558120 meters
#   Minimum depth: 108.434256 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.682253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.434256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803295;
longitude = -122.047447;
duration = 335;
# abortOnTimeout    = True; 
initialDepth = 61.888841;
finalDepth = 58.434256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.345482
#   Actual altitude:          51.345482
#   Commanded vehicle depth:  58.434256 
#   Seafloor depth:           -108.434256
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 108.605937 meters
#   Minimum depth: 111.888841 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.706492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.888841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804079;
longitude = -122.045841;
duration = 217;
initialDepth = 62.264324;
finalDepth = 61.888841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.817651
#   Actual altitude:          50.817651
#   Commanded vehicle depth:  61.888841 
#   Seafloor depth:           -112.706492
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 101.841896 meters
#   Minimum depth: 112.264324 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.976346 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.264324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804587;
longitude = -122.044801;
duration = 203;
initialDepth = 61.844239;
finalDepth = 62.264324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.817651
#   Actual altitude:          50.817651
#   Commanded vehicle depth:  62.264324 
#   Seafloor depth:           -112.264324
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 110.115798 meters
#   Minimum depth: 111.844239 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.874433 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.844239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805063;
longitude = -122.043825;
duration = 220;
initialDepth = 61.010911;
finalDepth = 61.844239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.030194
#   Actual altitude:          51.030194
#   Commanded vehicle depth:  61.844239 
#   Seafloor depth:           -112.874433
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 100.330156 meters
#   Minimum depth: 111.010911 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.179121 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.010911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805578;
longitude = -122.042770;
duration = 200;
initialDepth = 60.074487;
finalDepth = 61.010911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.030194
#   Actual altitude:          51.030194
#   Commanded vehicle depth:  61.010911 
#   Seafloor depth:           -111.881839
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 111.625632 meters
#   Minimum depth: 110.074487 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.087286 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.074487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806047;
longitude = -122.041808;
duration = 223;
initialDepth = 60.404314;
finalDepth = 60.074487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.012799
#   Actual altitude:          51.012799
#   Commanded vehicle depth:  60.074487 
#   Seafloor depth:           -111.087286
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 102.755366 meters
#   Minimum depth: 110.404314 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.125936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.404314 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806569;
longitude = -122.040739;
duration = 205;
initialDepth = 61.122385;
finalDepth = 60.404314;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.012799
#   Actual altitude:          51.012799
#   Commanded vehicle depth:  60.404314 
#   Seafloor depth:           -110.404314
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
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;
}
# 
#######################################################
# 
# 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 48
#   Segment length 170.838636 meters
#   Minimum depth: 111.122385 meters looking forward 100.000000 meters along route
#   Maximum depth: 144.339546 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.122385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807050;
longitude = -122.039754;
duration = 341;
# abortOnTimeout    = True; 
initialDepth = 96.561192;
finalDepth = 61.122385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  61.122385 
#   Seafloor depth:           -111.122385
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 47
#   Segment length 119.551006 meters
#   Minimum depth: 146.561192 meters looking forward 100.000000 meters along route
#   Maximum depth: 155.724683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 96.561192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805608;
longitude = -122.039082;
duration = 239;
# abortOnTimeout    = True; 
initialDepth = 89.485529;
finalDepth = 96.561192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  96.561192 
#   Seafloor depth:           -146.561192
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.495214 meters
#   Minimum depth: 139.485529 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.809016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 89.485529 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805065;
longitude = -122.040240;
duration = 210;
initialDepth = 89.687600;
finalDepth = 89.485529;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.323487
#   Actual altitude:          68.323487
#   Commanded vehicle depth:  89.485529 
#   Seafloor depth:           -157.809016
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.50;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 102.721708 meters
#   Minimum depth: 139.687600 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.471994 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 89.687600 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804587;
longitude = -122.041262;
duration = 205;
initialDepth = 109.565591;
finalDepth = 89.687600;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.323487
#   Actual altitude:          68.323487
#   Commanded vehicle depth:  89.6876 
#   Seafloor depth:           -139.687600
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.50;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 104.109145 meters
#   Minimum depth: 159.565591 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.797846 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 109.565591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804120;
longitude = -122.042256;
duration = 208;
initialDepth = 86.016927;
finalDepth = 109.565591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.232255
#   Actual altitude:          59.232255
#   Commanded vehicle depth:  109.565591 
#   Seafloor depth:           -168.797846
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 104.109600 meters
#   Minimum depth: 136.016927 meters looking forward 100.000000 meters along route
#   Maximum depth: 163.270875 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.016927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803648;
longitude = -122.043265;
duration = 208;
initialDepth = 76.235259;
finalDepth = 86.016927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.253948
#   Actual altitude:          77.253948
#   Commanded vehicle depth:  86.016927 
#   Seafloor depth:           -163.270875
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.18;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 106.088328 meters
#   Minimum depth: 126.235259 meters looking forward 100.000000 meters along route
#   Maximum depth: 137.550665 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 76.235259 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803176;
longitude = -122.044273;
duration = 212;
initialDepth = 76.317433;
finalDepth = 76.235259;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.253948
#   Actual altitude:          77.253948
#   Commanded vehicle depth:  76.235259 
#   Seafloor depth:           -135.362113
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.18;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.998898 meters
#   Minimum depth: 126.317433 meters looking forward 100.000000 meters along route
#   Maximum depth: 129.087258 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 76.317433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802694;
longitude = -122.045300;
duration = 211;
initialDepth = 80.550732;
finalDepth = 76.317433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.126854
#   Actual altitude:          59.126854
#   Commanded vehicle depth:  76.317433 
#   Seafloor depth:           -126.317433
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.74;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 46
#   Segment length 102.602983 meters
#   Minimum depth: 130.550732 meters looking forward 100.000000 meters along route
#   Maximum depth: 139.888661 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 80.550732 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802213;
longitude = -122.046327;
duration = 205;
# abortOnTimeout    = True; 
initialDepth = 83.214371;
finalDepth = 80.550732;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  80.550732 
#   Seafloor depth:           -130.550732
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 107.748491 meters
#   Minimum depth: 133.214371 meters looking forward 100.000000 meters along route
#   Maximum depth: 138.175511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 83.214371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801510;
longitude = -122.047074;
duration = 215;
initialDepth = 83.841132;
finalDepth = 83.214371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.96114
#   Actual altitude:          54.96114
#   Commanded vehicle depth:  83.214371 
#   Seafloor depth:           -138.175511
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.49;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 100.735464 meters
#   Minimum depth: 133.841132 meters looking forward 100.000000 meters along route
#   Maximum depth: 145.247886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 83.841132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800771;
longitude = -122.047858;
duration = 201;
initialDepth = 88.078029;
finalDepth = 83.841132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.96114
#   Actual altitude:          54.96114
#   Commanded vehicle depth:  83.841132 
#   Seafloor depth:           -133.841132
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.49;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 105.176096 meters
#   Minimum depth: 138.078029 meters looking forward 100.000000 meters along route
#   Maximum depth: 144.337352 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 88.078029 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800080;
longitude = -122.048591;
duration = 210;
initialDepth = 87.296684;
finalDepth = 88.078029;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.919002
#   Actual altitude:          54.919002
#   Commanded vehicle depth:  88.078029 
#   Seafloor depth:           -142.997031
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 105.176489 meters
#   Minimum depth: 137.296684 meters looking forward 100.000000 meters along route
#   Maximum depth: 141.606030 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 87.296684 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799359;
longitude = -122.049357;
duration = 210;
initialDepth = 84.506739;
finalDepth = 87.296684;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.919002
#   Actual altitude:          54.919002
#   Commanded vehicle depth:  87.296684 
#   Seafloor depth:           -139.857097
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 109.622300 meters
#   Minimum depth: 134.506739 meters looking forward 100.000000 meters along route
#   Maximum depth: 138.069954 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.506739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798638;
longitude = -122.050122;
duration = 219;
initialDepth = 84.780795;
finalDepth = 84.506739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.892111
#   Actual altitude:          52.892111
#   Commanded vehicle depth:  84.506739 
#   Seafloor depth:           -137.398850
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 45
#   Segment length 89.838048 meters
#   Minimum depth: 134.780795 meters looking forward 100.000000 meters along route
#   Maximum depth: 151.675881 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.780795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797887;
longitude = -122.050920;
duration = 179;
# abortOnTimeout    = True; 
initialDepth = 102.081390;
finalDepth = 84.780795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.892111
#   Actual altitude:          52.892111
#   Commanded vehicle depth:  84.780795 
#   Seafloor depth:           -134.908211
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 103.716729 meters
#   Minimum depth: 152.081390 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.904070 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 102.081390 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797106;
longitude = -122.051188;
duration = 207;
initialDepth = 107.702632;
finalDepth = 102.081390;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.678884
#   Actual altitude:          50.678884
#   Commanded vehicle depth:  102.08139 
#   Seafloor depth:           -152.760274
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 103.716794 meters
#   Minimum depth: 157.702632 meters looking forward 100.000000 meters along route
#   Maximum depth: 163.683620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 107.702632 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796205;
longitude = -122.051497;
duration = 207;
initialDepth = 112.188272;
finalDepth = 107.702632;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.678884
#   Actual altitude:          50.678884
#   Commanded vehicle depth:  107.702632 
#   Seafloor depth:           -157.702632
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 103.763588 meters
#   Minimum depth: 162.188272 meters looking forward 100.000000 meters along route
#   Maximum depth: 165.618368 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 112.188272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795304;
longitude = -122.051806;
duration = 207;
initialDepth = 101.775005;
finalDepth = 112.188272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.469948
#   Actual altitude:          50.469948
#   Commanded vehicle depth:  112.188272 
#   Seafloor depth:           -162.658220
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 100.262927 meters
#   Minimum depth: 151.775005 meters looking forward 100.000000 meters along route
#   Maximum depth: 163.651397 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 101.775005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794402;
longitude = -122.052115;
duration = 200;
initialDepth = 102.390888;
finalDepth = 101.775005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.876392
#   Actual altitude:          61.876392
#   Commanded vehicle depth:  101.775005 
#   Seafloor depth:           -163.651397
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.56;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 44
#   Segment length 93.793692 meters
#   Minimum depth: 152.390888 meters looking forward 100.000000 meters along route
#   Maximum depth: 161.512979 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 102.390888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793531;
longitude = -122.052414;
duration = 187;
# abortOnTimeout    = True; 
initialDepth = 113.225263;
finalDepth = 102.390888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.876392
#   Actual altitude:          61.876392
#   Commanded vehicle depth:  102.390888 
#   Seafloor depth:           -152.532864
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.56;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 100.545134 meters
#   Minimum depth: 163.225263 meters looking forward 100.000000 meters along route
#   Maximum depth: 180.906018 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 113.225263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792690;
longitude = -122.052303;
duration = 201;
initialDepth = 131.341353;
finalDepth = 113.225263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.141976
#   Actual altitude:          50.141976
#   Commanded vehicle depth:  113.225263 
#   Seafloor depth:           -163.225263
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 100.545135 meters
#   Minimum depth: 181.341353 meters looking forward 100.000000 meters along route
#   Maximum depth: 197.499727 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 131.341353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791789;
longitude = -122.052184;
duration = 201;
initialDepth = 149.703491;
finalDepth = 131.341353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  131.341353 
#   Seafloor depth:           -181.341353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 100.545135 meters
#   Minimum depth: 199.703491 meters looking forward 100.000000 meters along route
#   Maximum depth: 208.689891 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 149.703491 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790888;
longitude = -122.052065;
duration = 201;
initialDepth = 160.197307;
finalDepth = 149.703491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  149.703491 
#   Seafloor depth:           -199.703491
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 100.545136 meters
#   Minimum depth: 210.197307 meters looking forward 100.000000 meters along route
#   Maximum depth: 218.790676 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 160.197307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789987;
longitude = -122.051946;
duration = 201;
initialDepth = 169.987101;
finalDepth = 160.197307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  160.197307 
#   Seafloor depth:           -210.197307
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 103.899956 meters
#   Minimum depth: 219.987101 meters looking forward 100.000000 meters along route
#   Maximum depth: 231.465603 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 169.987101 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789085;
longitude = -122.051827;
duration = 207;
initialDepth = 179.467457;
finalDepth = 169.987101;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  169.987101 
#   Seafloor depth:           -219.987101
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 43
#   Segment length 81.334567 meters
#   Minimum depth: 229.467457 meters looking forward 100.000000 meters along route
#   Maximum depth: 238.080166 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 179.467457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788154;
longitude = -122.051704;
duration = 162;
# abortOnTimeout    = True; 
initialDepth = 188.101455;
finalDepth = 179.467457;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.306869
#   Actual altitude:          52.306869
#   Commanded vehicle depth:  179.467457 
#   Seafloor depth:           -231.774326
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 100.407884 meters
#   Minimum depth: 238.101455 meters looking forward 100.000000 meters along route
#   Maximum depth: 243.755276 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 188.101455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787628;
longitude = -122.052339;
duration = 200;
initialDepth = 193.369683;
finalDepth = 188.101455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.306869
#   Actual altitude:          52.306869
#   Commanded vehicle depth:  188.101455 
#   Seafloor depth:           -238.101455
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 100.408274 meters
#   Minimum depth: 243.369683 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.706641 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 193.369683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786979;
longitude = -122.053123;
duration = 200;
initialDepth = 192.113993;
finalDepth = 193.369683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.00963
#   Actual altitude:          50.00963
#   Commanded vehicle depth:  193.369683 
#   Seafloor depth:           -243.379313
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 103.569461 meters
#   Minimum depth: 242.113993 meters looking forward 100.000000 meters along route
#   Maximum depth: 246.209742 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 192.113993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786330;
longitude = -122.053908;
duration = 207;
initialDepth = 195.600851;
finalDepth = 192.113993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.559208
#   Actual altitude:          50.559208
#   Commanded vehicle depth:  192.113993 
#   Seafloor depth:           -242.673201
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.833692 meters
#   Minimum depth: 245.600851 meters looking forward 100.000000 meters along route
#   Maximum depth: 255.540612 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 195.600851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785661;
longitude = -122.054717;
duration = 213;
initialDepth = 202.979773;
finalDepth = 195.600851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.549443
#   Actual altitude:          51.549443
#   Commanded vehicle depth:  195.600851 
#   Seafloor depth:           -247.150294
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
# 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 42
#   Segment length 83.381022 meters
#   Minimum depth: 252.979773 meters looking forward 100.000000 meters along route
#   Maximum depth: 259.648781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 202.979773 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784970;
longitude = -122.055551;
duration = 166;
# abortOnTimeout    = True; 
initialDepth = 210.829878;
finalDepth = 202.979773;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.549443
#   Actual altitude:          51.549443
#   Commanded vehicle depth:  202.979773 
#   Seafloor depth:           -253.081924
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 100.009937 meters
#   Minimum depth: 260.829878 meters looking forward 100.000000 meters along route
#   Maximum depth: 272.037125 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 210.829878 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784219;
longitude = -122.055573;
duration = 200;
initialDepth = 221.209659;
finalDepth = 210.829878;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.102151
#   Actual altitude:          50.102151
#   Commanded vehicle depth:  210.829878 
#   Seafloor depth:           -260.829878
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.03;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 103.353302 meters
#   Minimum depth: 271.209659 meters looking forward 100.000000 meters along route
#   Maximum depth: 295.257787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 221.209659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783317;
longitude = -122.055599;
duration = 206;
initialDepth = 227.991217;
finalDepth = 221.209659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  221.209659 
#   Seafloor depth:           -271.209659
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 167.039225 meters
#   Minimum depth: 277.991217 meters looking forward 100.000000 meters along route
#   Maximum depth: 295.943291 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 227.991217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782386;
longitude = -122.055626;
duration = 334;
# abortOnTimeout    = True; 
initialDepth = 227.674161;
finalDepth = 227.991217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.952074
#   Actual altitude:          67.952074
#   Commanded vehicle depth:  227.991217 
#   Seafloor depth:           -295.943291
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.39;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 102.177502 meters
#   Minimum depth: 277.674161 meters looking forward 100.000000 meters along route
#   Maximum depth: 280.741896 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 227.674161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783691;
longitude = -122.054692;
duration = 204;
initialDepth = 220.546674;
finalDepth = 227.674161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.952074
#   Actual altitude:          67.952074
#   Commanded vehicle depth:  227.674161 
#   Seafloor depth:           -278.192701
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.39;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 111.504114 meters
#   Minimum depth: 270.546674 meters looking forward 100.000000 meters along route
#   Maximum depth: 279.048925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 220.546674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784489;
longitude = -122.054121;
duration = 223;
initialDepth = 216.632881;
finalDepth = 220.546674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.502251
#   Actual altitude:          58.502251
#   Commanded vehicle depth:  220.546674 
#   Seafloor depth:           -279.048925
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.55;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 40
#   Segment length 106.069918 meters
#   Minimum depth: 266.632881 meters looking forward 100.000000 meters along route
#   Maximum depth: 270.487202 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 216.632881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785360;
longitude = -122.053497;
duration = 212;
# abortOnTimeout    = True; 
initialDepth = 212.572877;
finalDepth = 216.632881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.502251
#   Actual altitude:          58.502251
#   Commanded vehicle depth:  216.632881 
#   Seafloor depth:           -269.304497
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.55;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 101.817108 meters
#   Minimum depth: 262.572877 meters looking forward 100.000000 meters along route
#   Maximum depth: 267.715543 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 212.572877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785952;
longitude = -122.052563;
duration = 203;
initialDepth = 211.754084;
finalDepth = 212.572877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.142666
#   Actual altitude:          55.142666
#   Commanded vehicle depth:  212.572877 
#   Seafloor depth:           -267.715543
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 104.476993 meters
#   Minimum depth: 261.754084 meters looking forward 100.000000 meters along route
#   Maximum depth: 263.060668 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 211.754084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786520;
longitude = -122.051667;
duration = 208;
initialDepth = 211.975157;
finalDepth = 211.754084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.142666
#   Actual altitude:          55.142666
#   Commanded vehicle depth:  211.754084 
#   Seafloor depth:           -261.807726
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 107.626112 meters
#   Minimum depth: 261.975157 meters looking forward 100.000000 meters along route
#   Maximum depth: 277.500070 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 211.975157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787103;
longitude = -122.050747;
duration = 215;
initialDepth = 221.289218;
finalDepth = 211.975157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.053642
#   Actual altitude:          50.053642
#   Commanded vehicle depth:  211.975157 
#   Seafloor depth:           -261.975157
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 76.467374 meters
#   Minimum depth: 271.289218 meters looking forward 100.000000 meters along route
#   Maximum depth: 279.506507 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 221.289218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787703;
longitude = -122.049800;
duration = 152;
# abortOnTimeout    = True; 
initialDepth = 208.387785;
finalDepth = 221.289218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.819646
#   Actual altitude:          57.819646
#   Commanded vehicle depth:  221.289218 
#   Seafloor depth:           -279.108864
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.35;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 100.791085 meters
#   Minimum depth: 258.387785 meters looking forward 100.000000 meters along route
#   Maximum depth: 270.148960 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.387785 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788364;
longitude = -122.050042;
duration = 201;
initialDepth = 196.837326;
finalDepth = 208.387785;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.761175
#   Actual altitude:          61.761175
#   Commanded vehicle depth:  208.387785 
#   Seafloor depth:           -270.148960
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.53;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 38
#   Segment length 173.400555 meters
#   Minimum depth: 246.837326 meters looking forward 100.000000 meters along route
#   Maximum depth: 257.171429 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 196.837326 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789236;
longitude = -122.050360;
duration = 346;
# abortOnTimeout    = True; 
initialDepth = 190.627523;
finalDepth = 196.837326;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.761175
#   Actual altitude:          61.761175
#   Commanded vehicle depth:  196.837326 
#   Seafloor depth:           -257.171429
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.53;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 100.069619 meters
#   Minimum depth: 240.627523 meters looking forward 100.000000 meters along route
#   Maximum depth: 246.428931 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 190.627523 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790798;
longitude = -122.050441;
duration = 200;
initialDepth = 190.343042;
finalDepth = 190.627523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.334103
#   Actual altitude:          60.334103
#   Commanded vehicle depth:  190.627523 
#   Seafloor depth:           -246.428931
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.10;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 100.069631 meters
#   Minimum depth: 240.343042 meters looking forward 100.000000 meters along route
#   Maximum depth: 249.167736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 190.343042 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791699;
longitude = -122.050488;
duration = 200;
initialDepth = 193.280994;
finalDepth = 190.343042;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.801408
#   Actual altitude:          55.801408
#   Commanded vehicle depth:  190.343042 
#   Seafloor depth:           -240.343042
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.74;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 106.688155 meters
#   Minimum depth: 243.280994 meters looking forward 100.000000 meters along route
#   Maximum depth: 249.131240 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 193.280994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792600;
longitude = -122.050534;
duration = 213;
initialDepth = 193.280994;
finalDepth = 193.280994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.549875
#   Actual altitude:          51.549875
#   Commanded vehicle depth:  193.280994 
#   Seafloor depth:           -244.830869
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 87.699816 meters
#   Minimum depth: 243.280994 meters looking forward 100.000000 meters along route
#   Maximum depth: 266.716807 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 193.280994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793561;
longitude = -122.050584;
duration = 175;
# abortOnTimeout    = True; 
initialDepth = 216.441459;
finalDepth = 193.280994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.549875
#   Actual altitude:          51.549875
#   Commanded vehicle depth:  193.280994 
#   Seafloor depth:           -244.043839
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.499587 meters
#   Minimum depth: 266.441459 meters looking forward 100.000000 meters along route
#   Maximum depth: 271.409104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 216.441459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794323;
longitude = -122.050323;
duration = 204;
initialDepth = 206.918809;
finalDepth = 216.441459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.762845
#   Actual altitude:          50.762845
#   Commanded vehicle depth:  216.441459 
#   Seafloor depth:           -266.832821
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 103.715188 meters
#   Minimum depth: 256.918809 meters looking forward 100.000000 meters along route
#   Maximum depth: 272.325300 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 206.918809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795214;
longitude = -122.050017;
duration = 207;
initialDepth = 187.604499;
finalDepth = 206.918809;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.095503
#   Actual altitude:          63.095503
#   Commanded vehicle depth:  206.918809 
#   Seafloor depth:           -270.014312
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.93;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.140773 meters
#   Minimum depth: 237.604499 meters looking forward 100.000000 meters along route
#   Maximum depth: 252.580295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 187.604499 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796115;
longitude = -122.049708;
duration = 214;
initialDepth = 165.701266;
finalDepth = 187.604499;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.975796
#   Actual altitude:          64.975796
#   Commanded vehicle depth:  187.604499 
#   Seafloor depth:           -252.580295
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.49;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 36
#   Segment length 175.487547 meters
#   Minimum depth: 215.701266 meters looking forward 100.000000 meters along route
#   Maximum depth: 247.662794 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 165.701266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797046;
longitude = -122.049389;
duration = 350;
# abortOnTimeout    = True; 
initialDepth = 182.802048;
finalDepth = 165.701266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.030847
#   Actual altitude:          68.030847
#   Commanded vehicle depth:  165.701266 
#   Seafloor depth:           -233.732113
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.41;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.701096 meters
#   Minimum depth: 232.802048 meters looking forward 100.000000 meters along route
#   Maximum depth: 248.677033 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 182.802048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798278;
longitude = -122.048155;
duration = 205;
initialDepth = 171.224346;
finalDepth = 182.802048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.030847
#   Actual altitude:          68.030847
#   Commanded vehicle depth:  182.802048 
#   Seafloor depth:           -242.318242
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.700738 meters
#   Minimum depth: 221.224346 meters looking forward 100.000000 meters along route
#   Maximum depth: 240.233564 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 171.224346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798999;
longitude = -122.047433;
duration = 205;
initialDepth = 164.375367;
finalDepth = 171.224346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.009218
#   Actual altitude:          69.009218
#   Commanded vehicle depth:  171.224346 
#   Seafloor depth:           -240.233564
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.70;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 107.780569 meters
#   Minimum depth: 214.375367 meters looking forward 100.000000 meters along route
#   Maximum depth: 228.228539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 164.375367 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799720;
longitude = -122.046711;
duration = 215;
initialDepth = 158.993088;
finalDepth = 164.375367;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.009218
#   Actual altitude:          69.009218
#   Commanded vehicle depth:  164.375367 
#   Seafloor depth:           -219.678802
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.70;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.174780 meters
#   Minimum depth: 208.993088 meters looking forward 100.000000 meters along route
#   Maximum depth: 230.543650 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 158.993088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800477;
longitude = -122.045953;
duration = 212;
initialDepth = 134.340163;
finalDepth = 158.993088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       71.550562
#   Actual altitude:          71.550562
#   Commanded vehicle depth:  158.993088 
#   Seafloor depth:           -230.543650
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.47;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 35
#   Segment length 180.357390 meters
#   Minimum depth: 184.340163 meters looking forward 100.000000 meters along route
#   Maximum depth: 226.557496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 134.340163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801222;
longitude = -122.045207;
duration = 360;
# abortOnTimeout    = True; 
initialDepth = 169.186011;
finalDepth = 134.340163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.863847
#   Actual altitude:          75.863847
#   Commanded vehicle depth:  134.340163 
#   Seafloor depth:           -210.204010
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.76;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.896028 meters
#   Minimum depth: 219.186011 meters looking forward 100.000000 meters along route
#   Maximum depth: 238.128865 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 169.186011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802063;
longitude = -122.043477;
duration = 207;
initialDepth = 182.792476;
finalDepth = 169.186011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.863847
#   Actual altitude:          75.863847
#   Commanded vehicle depth:  169.186011 
#   Seafloor depth:           -226.389856
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 108.660281 meters
#   Minimum depth: 232.792476 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.024974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 182.792476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802548;
longitude = -122.042480;
duration = 217;
initialDepth = 159.758691;
finalDepth = 182.792476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.203845
#   Actual altitude:          57.203845
#   Commanded vehicle depth:  182.792476 
#   Seafloor depth:           -234.646356
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.16;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.574879 meters
#   Minimum depth: 209.758691 meters looking forward 100.000000 meters along route
#   Maximum depth: 232.463809 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 159.758691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803055;
longitude = -122.041438;
duration = 203;
initialDepth = 162.274154;
finalDepth = 159.758691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.705118
#   Actual altitude:          72.705118
#   Commanded vehicle depth:  159.758691 
#   Seafloor depth:           -232.463809
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 110.979514 meters
#   Minimum depth: 212.274154 meters looking forward 100.000000 meters along route
#   Maximum depth: 221.629276 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 162.274154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803528;
longitude = -122.040464;
duration = 221;
initialDepth = 157.904060;
finalDepth = 162.274154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.705118
#   Actual altitude:          72.705118
#   Commanded vehicle depth:  162.274154 
#   Seafloor depth:           -212.373616
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.147345 meters
#   Minimum depth: 207.904060 meters looking forward 100.000000 meters along route
#   Maximum depth: 224.343887 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 157.904060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804046;
longitude = -122.039399;
duration = 206;
initialDepth = 154.470108;
finalDepth = 157.904060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       64.016267
#   Actual altitude:          64.016267
#   Commanded vehicle depth:  157.90406 
#   Seafloor depth:           -221.920327
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.20;
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;
}
# 
#######################################################
# 
# 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 177.429256 meters
#   Minimum depth: 204.470108 meters looking forward 100.000000 meters along route
#   Maximum depth: 294.371340 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 154.470108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804527;
longitude = -122.038410;
duration = 354;
# abortOnTimeout    = True; 
initialDepth = 243.056268;
finalDepth = 154.470108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       64.016267
#   Actual altitude:          64.016267
#   Commanded vehicle depth:  154.470108 
#   Seafloor depth:           -204.470108
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.20;
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;
}
# 
#######################################################
# 
# 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 173.552683 meters
#   Minimum depth: 293.056268 meters looking forward 100.000000 meters along route
#   Maximum depth: 310.169990 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 243.056268 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803115;
longitude = -122.037476;
duration = 347;
# abortOnTimeout    = True; 
initialDepth = 246.141371;
finalDepth = 243.056268;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.169768
#   Actual altitude:          53.169768
#   Commanded vehicle depth:  243.056268 
#   Seafloor depth:           -296.226036
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.079677 meters
#   Minimum depth: 296.141371 meters looking forward 100.000000 meters along route
#   Maximum depth: 320.800021 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 246.141371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802334;
longitude = -122.039161;
duration = 200;
initialDepth = 270.942234;
finalDepth = 246.141371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.169768
#   Actual altitude:          53.169768
#   Commanded vehicle depth:  246.141371 
#   Seafloor depth:           -296.141371
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.080098 meters
#   Minimum depth: 320.942234 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.339931 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 270.942234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801883;
longitude = -122.040133;
duration = 200;
initialDepth = 268.105230;
finalDepth = 270.942234;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  270.942234 
#   Seafloor depth:           -320.942234
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.080517 meters
#   Minimum depth: 318.105230 meters looking forward 100.000000 meters along route
#   Maximum depth: 325.636300 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.105230 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801432;
longitude = -122.041105;
duration = 200;
initialDepth = 231.595241;
finalDepth = 268.105230;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.183058
#   Actual altitude:          57.183058
#   Commanded vehicle depth:  268.10523 
#   Seafloor depth:           -325.288288
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.080938 meters
#   Minimum depth: 281.595241 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.215677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.595241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800982;
longitude = -122.042077;
duration = 200;
initialDepth = 230.499209;
finalDepth = 231.595241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.620436
#   Actual altitude:          85.620436
#   Commanded vehicle depth:  231.595241 
#   Seafloor depth:           -317.215677
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.844621 meters
#   Minimum depth: 280.499209 meters looking forward 100.000000 meters along route
#   Maximum depth: 293.622352 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 230.499209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800531;
longitude = -122.043049;
duration = 213;
initialDepth = 243.692627;
finalDepth = 230.499209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       85.620436
#   Actual altitude:          85.620436
#   Commanded vehicle depth:  230.499209 
#   Seafloor depth:           -281.571032
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.69;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 116.498201 meters
#   Minimum depth: 293.692627 meters looking forward 100.000000 meters along route
#   Maximum depth: 311.578195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 243.692627 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800050;
longitude = -122.044086;
duration = 232;
# abortOnTimeout    = True; 
initialDepth = 261.567273;
finalDepth = 243.692627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.071823
#   Actual altitude:          51.071823
#   Commanded vehicle depth:  243.692627 
#   Seafloor depth:           -293.692627
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.718839 meters
#   Minimum depth: 311.567273 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.794862 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 261.567273 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799269;
longitude = -122.044959;
duration = 205;
initialDepth = 263.022853;
finalDepth = 261.567273;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  261.567273 
#   Seafloor depth:           -311.567273
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 104.609984 meters
#   Minimum depth: 313.022853 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.543214 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 263.022853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798581;
longitude = -122.045729;
duration = 209;
initialDepth = 275.390779;
finalDepth = 263.022853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.423167
#   Actual altitude:          57.423167
#   Commanded vehicle depth:  263.022853 
#   Seafloor depth:           -320.446020
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 104.610389 meters
#   Minimum depth: 325.390779 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.081865 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 275.390779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797880;
longitude = -122.046514;
duration = 209;
initialDepth = 263.287498;
finalDepth = 275.390779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.691086
#   Actual altitude:          58.691086
#   Commanded vehicle depth:  275.390779 
#   Seafloor depth:           -334.081865
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.61;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 109.538867 meters
#   Minimum depth: 313.287498 meters looking forward 100.000000 meters along route
#   Maximum depth: 324.621083 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 263.287498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797179;
longitude = -122.047298;
duration = 219;
initialDepth = 263.705757;
finalDepth = 263.287498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.333585
#   Actual altitude:          61.333585
#   Commanded vehicle depth:  263.287498 
#   Seafloor depth:           -324.621083
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.40;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 149.718592 meters
#   Minimum depth: 313.705757 meters looking forward 100.000000 meters along route
#   Maximum depth: 339.352237 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 263.705757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796445;
longitude = -122.048119;
duration = 299;
# abortOnTimeout    = True; 
initialDepth = 285.654260;
finalDepth = 263.705757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.333585
#   Actual altitude:          61.333585
#   Commanded vehicle depth:  263.705757 
#   Seafloor depth:           -313.705757
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.40;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 102.115395 meters
#   Minimum depth: 335.654260 meters looking forward 100.000000 meters along route
#   Maximum depth: 341.171891 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 285.654260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795124;
longitude = -122.048460;
duration = 204;
initialDepth = 279.062019;
finalDepth = 285.654260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.517868
#   Actual altitude:          52.517868
#   Commanded vehicle depth:  285.65426 
#   Seafloor depth:           -338.172128
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 108.930130 meters
#   Minimum depth: 329.062019 meters looking forward 100.000000 meters along route
#   Maximum depth: 339.106285 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 279.062019 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794222;
longitude = -122.048693;
duration = 217;
initialDepth = 265.104614;
finalDepth = 279.062019;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.003267
#   Actual altitude:          59.003267
#   Commanded vehicle depth:  279.062019 
#   Seafloor depth:           -338.065286
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.70;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 153.878176 meters
#   Minimum depth: 315.104614 meters looking forward 100.000000 meters along route
#   Maximum depth: 332.050133 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 265.104614 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793261;
longitude = -122.048941;
duration = 307;
# abortOnTimeout    = True; 
initialDepth = 254.321233;
finalDepth = 265.104614;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.945519
#   Actual altitude:          66.945519
#   Commanded vehicle depth:  265.104614 
#   Seafloor depth:           -332.050133
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.08;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.359818 meters
#   Minimum depth: 304.321233 meters looking forward 100.000000 meters along route
#   Maximum depth: 314.813132 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 254.321233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791879;
longitude = -122.048792;
duration = 200;
initialDepth = 247.431171;
finalDepth = 254.321233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.945519
#   Actual altitude:          66.945519
#   Commanded vehicle depth:  254.321233 
#   Seafloor depth:           -310.038345
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.359814 meters
#   Minimum depth: 297.431171 meters looking forward 100.000000 meters along route
#   Maximum depth: 311.531934 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 247.431171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790978;
longitude = -122.048694;
duration = 200;
initialDepth = 253.482412;
finalDepth = 247.431171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.497832
#   Actual altitude:          60.497832
#   Commanded vehicle depth:  247.431171 
#   Seafloor depth:           -307.929003
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 107.089819 meters
#   Minimum depth: 303.482412 meters looking forward 100.000000 meters along route
#   Maximum depth: 314.928660 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 253.482412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790077;
longitude = -122.048597;
duration = 214;
initialDepth = 255.530140;
finalDepth = 253.482412;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       60.497832
#   Actual altitude:          60.497832
#   Commanded vehicle depth:  253.482412 
#   Seafloor depth:           -303.482412
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.15;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 114.611904 meters
#   Minimum depth: 305.530140 meters looking forward 100.000000 meters along route
#   Maximum depth: 319.116817 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 255.530140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789115;
longitude = -122.048493;
duration = 229;
# abortOnTimeout    = True; 
initialDepth = 269.450221;
finalDepth = 255.530140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.333683
#   Actual altitude:          52.333683
#   Commanded vehicle depth:  255.53014 
#   Seafloor depth:           -307.863823
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 104.497636 meters
#   Minimum depth: 319.450221 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.437165 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 269.450221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788094;
longitude = -122.048297;
duration = 208;
initialDepth = 270.100447;
finalDepth = 269.450221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.333683
#   Actual altitude:          52.333683
#   Commanded vehicle depth:  269.450221 
#   Seafloor depth:           -319.450221
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 77.230320 meters
#   Minimum depth: 320.100447 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.822899 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 270.100447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787163;
longitude = -122.048119;
duration = 154;
# abortOnTimeout    = True; 
initialDepth = 255.569420;
finalDepth = 270.100447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.722452
#   Actual altitude:          64.722452
#   Commanded vehicle depth:  270.100447 
#   Seafloor depth:           -334.822899
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.42;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 104.403937 meters
#   Minimum depth: 305.569420 meters looking forward 100.000000 meters along route
#   Maximum depth: 318.744277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 255.569420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786690;
longitude = -122.048754;
duration = 208;
initialDepth = 245.154780;
finalDepth = 255.569420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.722452
#   Actual altitude:          64.722452
#   Commanded vehicle depth:  255.56942 
#   Seafloor depth:           -318.744277
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.42;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 107.307275 meters
#   Minimum depth: 295.154780 meters looking forward 100.000000 meters along route
#   Maximum depth: 305.066353 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 245.154780 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786051;
longitude = -122.049613;
duration = 214;
# abortOnTimeout    = True; 
initialDepth = 246.304362;
finalDepth = 245.154780;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.174857
#   Actual altitude:          63.174857
#   Commanded vehicle depth:  245.15478 
#   Seafloor depth:           -305.066353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.95;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 107.317006 meters
#   Minimum depth: 296.304362 meters looking forward 100.000000 meters along route
#   Maximum depth: 321.159865 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 246.304362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785480;
longitude = -122.050584;
duration = 214;
initialDepth = 269.462595;
finalDepth = 246.304362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.911573
#   Actual altitude:          59.911573
#   Commanded vehicle depth:  246.304362 
#   Seafloor depth:           -299.248116
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.97;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 107.307414 meters
#   Minimum depth: 319.462595 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.033260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 269.462595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784910;
longitude = -122.051555;
duration = 214;
initialDepth = 260.094451;
finalDepth = 269.462595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.943754
#   Actual altitude:          52.943754
#   Commanded vehicle depth:  269.462595 
#   Seafloor depth:           -319.462595
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 162.173419 meters
#   Minimum depth: 310.094451 meters looking forward 100.000000 meters along route
#   Maximum depth: 324.726387 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 260.094451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784339;
longitude = -122.052526;
duration = 324;
# abortOnTimeout    = True; 
initialDepth = 258.600706;
finalDepth = 260.094451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.631936
#   Actual altitude:          64.631936
#   Commanded vehicle depth:  260.094451 
#   Seafloor depth:           -324.726387
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.39;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 101.812469 meters
#   Minimum depth: 308.600706 meters looking forward 100.000000 meters along route
#   Maximum depth: 311.013895 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 258.600706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783047;
longitude = -122.053376;
duration = 203;
initialDepth = 260.126598;
finalDepth = 258.600706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.631936
#   Actual altitude:          64.631936
#   Commanded vehicle depth:  258.600706 
#   Seafloor depth:           -310.896550
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.39;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 101.812682 meters
#   Minimum depth: 310.126598 meters looking forward 100.000000 meters along route
#   Maximum depth: 319.977252 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 260.126598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782236;
longitude = -122.053910;
duration = 203;
initialDepth = 271.185324;
finalDepth = 260.126598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.295844
#   Actual altitude:          52.295844
#   Commanded vehicle depth:  260.126598 
#   Seafloor depth:           -310.126598
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 101.812897 meters
#   Minimum depth: 321.185324 meters looking forward 100.000000 meters along route
#   Maximum depth: 328.997938 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 271.185324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781425;
longitude = -122.054444;
duration = 203;
initialDepth = 279.177757;
finalDepth = 271.185324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.578998
#   Actual altitude:          52.578998
#   Commanded vehicle depth:  271.185324 
#   Seafloor depth:           -323.764322
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 109.410989 meters
#   Minimum depth: 329.177757 meters looking forward 100.000000 meters along route
#   Maximum depth: 343.799198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 279.177757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780614;
longitude = -122.054977;
duration = 218;
initialDepth = 289.683088;
finalDepth = 279.177757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.578998
#   Actual altitude:          52.578998
#   Commanded vehicle depth:  279.177757 
#   Seafloor depth:           -329.177757
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
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;
}
# 
#######################################################
# 
# 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 143.716220 meters
#   Minimum depth: 339.683088 meters looking forward 100.000000 meters along route
#   Maximum depth: 357.413467 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 289.683088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779742;
longitude = -122.055551;
duration = 287;
# abortOnTimeout    = True; 
initialDepth = 310.553535;
finalDepth = 289.683088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.258372
#   Actual altitude:          52.258372
#   Commanded vehicle depth:  289.683088 
#   Seafloor depth:           -341.941460
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 107.027047 meters
#   Minimum depth: 360.553535 meters looking forward 100.000000 meters along route
#   Maximum depth: 395.704007 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 310.553535 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778451;
longitude = -122.055423;
duration = 214;
initialDepth = 333.041260;
finalDepth = 310.553535;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.258372
#   Actual altitude:          52.258372
#   Commanded vehicle depth:  310.553535 
#   Seafloor depth:           -360.553535
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
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;
}
# 
#######################################################
# 
# 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 120.300403 meters
#   Minimum depth: 383.041260 meters looking forward 100.000000 meters along route
#   Maximum depth: 396.265422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 333.041260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777489;
longitude = -122.055327;
duration = 240;
# abortOnTimeout    = True; 
initialDepth = 335.379006;
finalDepth = 333.041260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.828262
#   Actual altitude:          62.828262
#   Commanded vehicle depth:  333.04126 
#   Seafloor depth:           -395.869522
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.85;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 104.575983 meters
#   Minimum depth: 385.379006 meters looking forward 100.000000 meters along route
#   Maximum depth: 398.152550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.379006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778325;
longitude = -122.054468;
duration = 209;
initialDepth = 340.388373;
finalDepth = 335.379006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.828262
#   Actual altitude:          62.828262
#   Commanded vehicle depth:  335.379006 
#   Seafloor depth:           -398.152550
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.85;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 77.245394 meters
#   Minimum depth: 390.388373 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.112901 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 340.388373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779051;
longitude = -122.053721;
duration = 154;
# abortOnTimeout    = True; 
initialDepth = 346.189010;
finalDepth = 340.388373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.773544
#   Actual altitude:          62.773544
#   Commanded vehicle depth:  340.388373 
#   Seafloor depth:           -395.222412
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.83;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 103.836193 meters
#   Minimum depth: 396.189010 meters looking forward 100.000000 meters along route
#   Maximum depth: 410.677649 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 346.189010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779679;
longitude = -122.053348;
duration = 207;
initialDepth = 337.521815;
finalDepth = 346.189010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.488639
#   Actual altitude:          64.488639
#   Commanded vehicle depth:  346.18901 
#   Seafloor depth:           -410.677649
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.35;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 110.828649 meters
#   Minimum depth: 387.521815 meters looking forward 100.000000 meters along route
#   Maximum depth: 404.429965 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 337.521815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780524;
longitude = -122.052846;
duration = 221;
initialDepth = 327.723510;
finalDepth = 337.521815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.488639
#   Actual altitude:          64.488639
#   Commanded vehicle depth:  337.521815 
#   Seafloor depth:           -401.997349
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.35;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 110.828432 meters
#   Minimum depth: 377.723510 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.212740 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 327.723510 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781425;
longitude = -122.052310;
duration = 221;
initialDepth = 354.598450;
finalDepth = 327.723510;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.475534
#   Actual altitude:          64.475534
#   Commanded vehicle depth:  327.72351 
#   Seafloor depth:           -383.043978
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.34;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 107.108807 meters
#   Minimum depth: 404.598450 meters looking forward 100.000000 meters along route
#   Maximum depth: 431.927557 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 354.598450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782326;
longitude = -122.051774;
duration = 214;
initialDepth = 349.411339;
finalDepth = 354.598450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       55.355197
#   Actual altitude:          55.355197
#   Commanded vehicle depth:  354.59845 
#   Seafloor depth:           -409.953647
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.61;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 131.071935 meters
#   Minimum depth: 399.411339 meters looking forward 100.000000 meters along route
#   Maximum depth: 431.005432 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 349.411339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783197;
longitude = -122.051256;
duration = 262;
# abortOnTimeout    = True; 
initialDepth = 350.653155;
finalDepth = 349.411339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.594093
#   Actual altitude:          81.594093
#   Commanded vehicle depth:  349.411339 
#   Seafloor depth:           -431.005432
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.104638 meters
#   Minimum depth: 400.653155 meters looking forward 100.000000 meters along route
#   Maximum depth: 408.919208 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 350.653155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783858;
longitude = -122.050039;
duration = 204;
initialDepth = 344.084988;
finalDepth = 350.653155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.594093
#   Actual altitude:          81.594093
#   Commanded vehicle depth:  350.653155 
#   Seafloor depth:           -402.336809
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 100.491979 meters
#   Minimum depth: 394.084988 meters looking forward 100.000000 meters along route
#   Maximum depth: 414.743893 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 344.084988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784373;
longitude = -122.049090;
duration = 200;
initialDepth = 321.555676;
finalDepth = 344.084988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       70.658905
#   Actual altitude:          70.658905
#   Commanded vehicle depth:  344.084988 
#   Seafloor depth:           -414.743893
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.20;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 142.663701 meters
#   Minimum depth: 371.555676 meters looking forward 100.000000 meters along route
#   Maximum depth: 396.329788 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 321.555676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784880;
longitude = -122.048157;
duration = 285;
# abortOnTimeout    = True; 
initialDepth = 323.384678;
finalDepth = 321.555676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.774112
#   Actual altitude:          74.774112
#   Commanded vehicle depth:  321.555676 
#   Seafloor depth:           -396.329788
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.43;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 106.020674 meters
#   Minimum depth: 373.384678 meters looking forward 100.000000 meters along route
#   Maximum depth: 391.902205 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 323.384678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785931;
longitude = -122.047236;
duration = 212;
initialDepth = 338.909913;
finalDepth = 323.384678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       74.774112
#   Actual altitude:          74.774112
#   Commanded vehicle depth:  323.384678 
#   Seafloor depth:           -374.640968
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.43;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 173.508771 meters
#   Minimum depth: 388.909913 meters looking forward 100.000000 meters along route
#   Maximum depth: 401.989435 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 338.909913 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786712;
longitude = -122.046551;
duration = 347;
# abortOnTimeout    = True; 
initialDepth = 349.679451;
finalDepth = 338.909913;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.071181
#   Actual altitude:          53.071181
#   Commanded vehicle depth:  338.909913 
#   Seafloor depth:           -391.981094
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 103.381976 meters
#   Minimum depth: 399.679451 meters looking forward 100.000000 meters along route
#   Maximum depth: 415.165230 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 349.679451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788274;
longitude = -122.046644;
duration = 206;
initialDepth = 357.336669;
finalDepth = 349.679451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.071181
#   Actual altitude:          53.071181
#   Commanded vehicle depth:  349.679451 
#   Seafloor depth:           -399.891064
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 117.522686 meters
#   Minimum depth: 407.336669 meters looking forward 100.000000 meters along route
#   Maximum depth: 415.700462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 357.336669 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789205;
longitude = -122.046700;
duration = 235;
# abortOnTimeout    = True; 
initialDepth = 348.113235;
finalDepth = 357.336669;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.363793
#   Actual altitude:          58.363793
#   Commanded vehicle depth:  357.336669 
#   Seafloor depth:           -415.700462
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.51;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.688000 meters
#   Minimum depth: 398.113235 meters looking forward 100.000000 meters along route
#   Maximum depth: 412.866420 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 348.113235 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790257;
longitude = -122.046856;
duration = 201;
initialDepth = 346.344610;
finalDepth = 348.113235;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.753185
#   Actual altitude:          64.753185
#   Commanded vehicle depth:  348.113235 
#   Seafloor depth:           -412.866420
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.687995 meters
#   Minimum depth: 396.344610 meters looking forward 100.000000 meters along route
#   Maximum depth: 416.561413 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 346.344610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791158;
longitude = -122.046989;
duration = 201;
initialDepth = 348.951291;
finalDepth = 346.344610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.753185
#   Actual altitude:          64.753185
#   Commanded vehicle depth:  346.34461 
#   Seafloor depth:           -396.344610
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 104.078940 meters
#   Minimum depth: 398.951291 meters looking forward 100.000000 meters along route
#   Maximum depth: 402.432878 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 348.951291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792059;
longitude = -122.047122;
duration = 208;
initialDepth = 352.801430;
finalDepth = 348.951291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.568693
#   Actual altitude:          52.568693
#   Commanded vehicle depth:  348.951291 
#   Seafloor depth:           -401.519984
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 98.528217 meters
#   Minimum depth: 402.801430 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.947221 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 352.801430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792991;
longitude = -122.047260;
duration = 197;
# abortOnTimeout    = True; 
initialDepth = 350.052734;
finalDepth = 352.801430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.568693
#   Actual altitude:          52.568693
#   Commanded vehicle depth:  352.80143 
#   Seafloor depth:           -402.801430
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 101.962047 meters
#   Minimum depth: 400.052734 meters looking forward 100.000000 meters along route
#   Maximum depth: 406.000334 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 350.052734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793862;
longitude = -122.047043;
duration = 203;
initialDepth = 348.504166;
finalDepth = 350.052734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.9476
#   Actual altitude:          55.9476
#   Commanded vehicle depth:  350.052734 
#   Seafloor depth:           -406.000334
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.78;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.314091 meters
#   Minimum depth: 398.504166 meters looking forward 100.000000 meters along route
#   Maximum depth: 407.291219 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 348.504166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794763;
longitude = -122.046819;
duration = 210;
initialDepth = 348.144287;
finalDepth = 348.504166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       56.134658
#   Actual altitude:          56.134658
#   Commanded vehicle depth:  348.504166 
#   Seafloor depth:           -404.638824
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.84;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 82.473464 meters
#   Minimum depth: 398.144287 meters looking forward 100.000000 meters along route
#   Maximum depth: 406.266501 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 348.144287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795694;
longitude = -122.046588;
duration = 164;
# abortOnTimeout    = True; 
initialDepth = 356.606641;
finalDepth = 348.144287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.134658
#   Actual altitude:          56.134658
#   Commanded vehicle depth:  348.144287 
#   Seafloor depth:           -398.144287
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.84;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.927301 meters
#   Minimum depth: 406.606641 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.852223 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 356.606641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796235;
longitude = -122.045953;
duration = 203;
initialDepth = 345.137552;
finalDepth = 356.606641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  356.606641 
#   Seafloor depth:           -406.606641
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.926905 meters
#   Minimum depth: 395.137552 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.659359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 345.137552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796903;
longitude = -122.045169;
duration = 203;
initialDepth = 335.496485;
finalDepth = 345.137552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.521807
#   Actual altitude:          68.521807
#   Commanded vehicle depth:  345.137552 
#   Seafloor depth:           -413.659359
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.56;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 107.889012 meters
#   Minimum depth: 385.496485 meters looking forward 100.000000 meters along route
#   Maximum depth: 404.508946 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.496485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797571;
longitude = -122.044385;
duration = 215;
initialDepth = 301.203574;
finalDepth = 335.496485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.521807
#   Actual altitude:          68.521807
#   Commanded vehicle depth:  335.496485 
#   Seafloor depth:           -401.857196
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.56;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.847399 meters
#   Minimum depth: 351.203574 meters looking forward 100.000000 meters along route
#   Maximum depth: 384.529917 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 301.203574 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798278;
longitude = -122.043555;
duration = 201;
initialDepth = 297.846566;
finalDepth = 301.203574;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       83.326343
#   Actual altitude:          83.326343
#   Commanded vehicle depth:  301.203574 
#   Seafloor depth:           -384.529917
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 90.217368 meters
#   Minimum depth: 347.846566 meters looking forward 100.000000 meters along route
#   Maximum depth: 367.363892 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 297.846566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798939;
longitude = -122.042779;
duration = 180;
# abortOnTimeout    = True; 
initialDepth = 317.578880;
finalDepth = 297.846566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.326343
#   Actual altitude:          83.326343
#   Commanded vehicle depth:  297.846566 
#   Seafloor depth:           -348.805550
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 104.376256 meters
#   Minimum depth: 367.578880 meters looking forward 100.000000 meters along route
#   Maximum depth: 383.465346 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 317.578880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799359;
longitude = -122.041913;
duration = 208;
initialDepth = 323.415472;
finalDepth = 317.578880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.958984
#   Actual altitude:          50.958984
#   Commanded vehicle depth:  317.57888 
#   Seafloor depth:           -367.578880
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 108.338336 meters
#   Minimum depth: 373.415472 meters looking forward 100.000000 meters along route
#   Maximum depth: 384.225209 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 323.415472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799846;
longitude = -122.040912;
duration = 216;
initialDepth = 322.177018;
finalDepth = 323.415472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.809737
#   Actual altitude:          60.809737
#   Commanded vehicle depth:  323.415472 
#   Seafloor depth:           -384.225209
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.24;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.847109 meters
#   Minimum depth: 372.177018 meters looking forward 100.000000 meters along route
#   Maximum depth: 375.068964 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 322.177018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800351;
longitude = -122.039873;
duration = 203;
initialDepth = 321.412374;
finalDepth = 322.177018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.809737
#   Actual altitude:          60.809737
#   Commanded vehicle depth:  322.177018 
#   Seafloor depth:           -373.573299
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.24;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 110.865565 meters
#   Minimum depth: 371.412374 meters looking forward 100.000000 meters along route
#   Maximum depth: 375.967474 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 321.412374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800825;
longitude = -122.038895;
duration = 221;
initialDepth = 323.598283;
finalDepth = 321.412374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.100653
#   Actual altitude:          54.100653
#   Commanded vehicle depth:  321.412374 
#   Seafloor depth:           -375.513027
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 103.164697 meters
#   Minimum depth: 373.598283 meters looking forward 100.000000 meters along route
#   Maximum depth: 378.544553 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 323.598283 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801342;
longitude = -122.037832;
duration = 206;
initialDepth = 327.189064;
finalDepth = 323.598283;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.100653
#   Actual altitude:          54.100653
#   Commanded vehicle depth:  323.598283 
#   Seafloor depth:           -373.598283
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
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;
}
# 
#######################################################
# 
# 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 106.937277 meters
#   Minimum depth: 377.189064 meters looking forward 100.000000 meters along route
#   Maximum depth: 394.398498 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 327.189064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801823;
longitude = -122.036842;
duration = 213;
# abortOnTimeout    = True; 
initialDepth = 345.110563;
finalDepth = 327.189064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  327.189064 
#   Seafloor depth:           -377.189064
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.217131 meters
#   Minimum depth: 395.110563 meters looking forward 100.000000 meters along route
#   Maximum depth: 419.991662 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 345.110563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801752;
longitude = -122.035647;
duration = 200;
initialDepth = 372.189633;
finalDepth = 345.110563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  345.110563 
#   Seafloor depth:           -395.110563
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.217239 meters
#   Minimum depth: 422.189633 meters looking forward 100.000000 meters along route
#   Maximum depth: 431.351729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 372.189633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801686;
longitude = -122.034526;
duration = 200;
initialDepth = 382.820028;
finalDepth = 372.189633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  372.189633 
#   Seafloor depth:           -422.189633
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 103.582182 meters
#   Minimum depth: 432.820028 meters looking forward 100.000000 meters along route
#   Maximum depth: 446.151344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 382.820028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801620;
longitude = -122.033406;
duration = 207;
initialDepth = 369.279144;
finalDepth = 382.820028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.655265
#   Actual altitude:          50.655265
#   Commanded vehicle depth:  382.820028 
#   Seafloor depth:           -433.475293
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
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;
}
# 
#######################################################
# 
# 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 153.895677 meters
#   Minimum depth: 419.279144 meters looking forward 100.000000 meters along route
#   Maximum depth: 447.603012 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 369.279144 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801552;
longitude = -122.032248;
duration = 307;
# abortOnTimeout    = True; 
initialDepth = 325.822704;
finalDepth = 369.279144;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.323868
#   Actual altitude:          78.323868
#   Commanded vehicle depth:  369.279144 
#   Seafloor depth:           -447.603012
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.50;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.306277 meters
#   Minimum depth: 375.822704 meters looking forward 100.000000 meters along route
#   Maximum depth: 416.599593 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 325.822704 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802784;
longitude = -122.033040;
duration = 202;
initialDepth = 261.888451;
finalDepth = 325.822704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.776889
#   Actual altitude:          90.776889
#   Commanded vehicle depth:  325.822704 
#   Seafloor depth:           -416.599593
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.306052 meters
#   Minimum depth: 311.888451 meters looking forward 100.000000 meters along route
#   Maximum depth: 371.860632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 261.888451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803595;
longitude = -122.033562;
duration = 202;
initialDepth = 203.027189;
finalDepth = 261.888451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.972181
#   Actual altitude:          100
#   Commanded vehicle depth:  261.888451 
#   Seafloor depth:           -371.860632
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.305827 meters
#   Minimum depth: 253.027189 meters looking forward 100.000000 meters along route
#   Maximum depth: 311.318838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 203.027189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804406;
longitude = -122.034084;
duration = 202;
initialDepth = 138.413661;
finalDepth = 203.027189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.972181
#   Actual altitude:          100
#   Commanded vehicle depth:  203.027189 
#   Seafloor depth:           -311.318838
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.305602 meters
#   Minimum depth: 188.413661 meters looking forward 100.000000 meters along route
#   Maximum depth: 245.280445 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 138.413661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805218;
longitude = -122.034605;
duration = 202;
initialDepth = 97.473983;
finalDepth = 138.413661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       108.291649
#   Actual altitude:          100
#   Commanded vehicle depth:  138.413661 
#   Seafloor depth:           -245.280445
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.305378 meters
#   Minimum depth: 147.473983 meters looking forward 100.000000 meters along route
#   Maximum depth: 186.257553 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 97.473983 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806029;
longitude = -122.035127;
duration = 202;
initialDepth = 71.764453;
finalDepth = 97.473983;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.866784
#   Actual altitude:          100
#   Commanded vehicle depth:  97.473983 
#   Seafloor depth:           -186.257553
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.305152 meters
#   Minimum depth: 121.764453 meters looking forward 100.000000 meters along route
#   Maximum depth: 147.284455 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 71.764453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806840;
longitude = -122.035649;
duration = 202;
initialDepth = 60.567431;
finalDepth = 71.764453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.78357
#   Actual altitude:          88.78357
#   Commanded vehicle depth:  71.764453 
#   Seafloor depth:           -147.284455
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.64;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.304929 meters
#   Minimum depth: 110.567431 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.871029 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.567431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807651;
longitude = -122.036170;
duration = 202;
initialDepth = 48.860024;
finalDepth = 60.567431;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.520002
#   Actual altitude:          75.520002
#   Commanded vehicle depth:  60.567431 
#   Seafloor depth:           -118.871029
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.66;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 108.784720 meters
#   Minimum depth: 98.860024 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.718497 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.860024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808462;
longitude = -122.036692;
duration = 217;
initialDepth = 46.569209;
finalDepth = 48.860024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.317582
#   Actual altitude:          62.317582
#   Commanded vehicle depth:  48.860024 
#   Seafloor depth:           -111.177606
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.70;
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;
}
# 
#######################################################
# 
# 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 81.611534 meters
#   Minimum depth: 96.569209 meters looking forward 100.000000 meters along route
#   Maximum depth: 98.882689 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.569209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809333;
longitude = -122.037252;
duration = 163;
# abortOnTimeout    = True; 
initialDepth = 47.327025;
finalDepth = 46.569209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.317582
#   Actual altitude:          62.317582
#   Commanded vehicle depth:  46.569209 
#   Seafloor depth:           -98.129215
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.70;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.759873 meters
#   Minimum depth: 97.327025 meters looking forward 100.000000 meters along route
#   Maximum depth: 101.485814 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.327025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808804;
longitude = -122.037887;
duration = 201;
initialDepth = 53.432725;
finalDepth = 47.327025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.560006
#   Actual altitude:          51.560006
#   Commanded vehicle depth:  47.327025 
#   Seafloor depth:           -97.327025
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 104.714779 meters
#   Minimum depth: 103.432725 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.156321 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.432725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808150;
longitude = -122.038671;
duration = 209;
initialDepth = 60.870744;
finalDepth = 53.432725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  53.432725 
#   Seafloor depth:           -103.432725
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 106.461627 meters
#   Minimum depth: 110.870744 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.308491 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.870744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807471;
longitude = -122.039486;
duration = 212;
initialDepth = 60.716783;
finalDepth = 60.870744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.376261
#   Actual altitude:          50.376261
#   Commanded vehicle depth:  60.870744 
#   Seafloor depth:           -111.247005
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
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;
}
# 
#######################################################
# 
# 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 149.864193 meters
#   Minimum depth: 110.716783 meters looking forward 100.000000 meters along route
#   Maximum depth: 113.113731 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.716783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806780;
longitude = -122.040315;
duration = 299;
# abortOnTimeout    = True; 
initialDepth = 62.106998;
finalDepth = 60.716783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.376261
#   Actual altitude:          50.376261
#   Commanded vehicle depth:  60.716783 
#   Seafloor depth:           -110.902958
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.623192 meters
#   Minimum depth: 112.106998 meters looking forward 100.000000 meters along route
#   Maximum depth: 113.138558 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.106998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807335;
longitude = -122.038783;
duration = 219;
initialDepth = 61.003229;
finalDepth = 62.106998;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.03156
#   Actual altitude:          51.03156
#   Commanded vehicle depth:  62.106998 
#   Seafloor depth:           -113.138558
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.622735 meters
#   Minimum depth: 111.003229 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.606444 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.003229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807741;
longitude = -122.037663;
duration = 219;
initialDepth = 60.753831;
finalDepth = 61.003229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.404368
#   Actual altitude:          51.404368
#   Commanded vehicle depth:  61.003229 
#   Seafloor depth:           -112.407597
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.622278 meters
#   Minimum depth: 110.753831 meters looking forward 100.000000 meters along route
#   Maximum depth: 112.367056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.753831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808147;
longitude = -122.036543;
duration = 219;
initialDepth = 62.375107;
finalDepth = 60.753831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.404368
#   Actual altitude:          51.404368
#   Commanded vehicle depth:  60.753831 
#   Seafloor depth:           -110.794502
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.621821 meters
#   Minimum depth: 112.375107 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.574851 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.375107 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808553;
longitude = -122.035422;
duration = 219;
initialDepth = 64.136135;
finalDepth = 62.375107;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.040671
#   Actual altitude:          50.040671
#   Commanded vehicle depth:  62.375107 
#   Seafloor depth:           -112.375107
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.01;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.621365 meters
#   Minimum depth: 114.136135 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.915336 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.136135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808959;
longitude = -122.034302;
duration = 219;
initialDepth = 64.406023;
finalDepth = 64.136135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.462694
#   Actual altitude:          50.462694
#   Commanded vehicle depth:  64.136135 
#   Seafloor depth:           -114.598829
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.620908 meters
#   Minimum depth: 114.406023 meters looking forward 100.000000 meters along route
#   Maximum depth: 116.317466 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.406023 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809365;
longitude = -122.033182;
duration = 219;
initialDepth = 66.796401;
finalDepth = 64.406023;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.462694
#   Actual altitude:          50.462694
#   Commanded vehicle depth:  64.406023 
#   Seafloor depth:           -114.496483
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.14;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.620451 meters
#   Minimum depth: 116.796401 meters looking forward 100.000000 meters along route
#   Maximum depth: 124.982122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.796401 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809771;
longitude = -122.032062;
duration = 219;
initialDepth = 69.298662;
finalDepth = 66.796401;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.09046
#   Actual altitude:          50.09046
#   Commanded vehicle depth:  66.796401 
#   Seafloor depth:           -116.796401
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.03;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.619995 meters
#   Minimum depth: 119.298662 meters looking forward 100.000000 meters along route
#   Maximum depth: 125.419514 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.298662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810177;
longitude = -122.030941;
duration = 219;
initialDepth = 55.895088;
finalDepth = 69.298662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.713531
#   Actual altitude:          55.713531
#   Commanded vehicle depth:  69.298662 
#   Seafloor depth:           -125.012193
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.619538 meters
#   Minimum depth: 105.895088 meters looking forward 100.000000 meters along route
#   Maximum depth: 117.258390 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.895088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810583;
longitude = -122.029821;
duration = 219;
initialDepth = 52.758484;
finalDepth = 55.895088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.363302
#   Actual altitude:          61.363302
#   Commanded vehicle depth:  55.895088 
#   Seafloor depth:           -117.258390
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.619082 meters
#   Minimum depth: 102.758484 meters looking forward 100.000000 meters along route
#   Maximum depth: 105.863850 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.758484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810989;
longitude = -122.028701;
duration = 219;
initialDepth = 52.255056;
finalDepth = 52.758484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.363302
#   Actual altitude:          61.363302
#   Commanded vehicle depth:  52.758484 
#   Seafloor depth:           -105.863850
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.618625 meters
#   Minimum depth: 102.255056 meters looking forward 100.000000 meters along route
#   Maximum depth: 103.911565 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.255056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811395;
longitude = -122.027580;
duration = 219;
initialDepth = 50.990199;
finalDepth = 52.255056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.105366
#   Actual altitude:          53.105366
#   Commanded vehicle depth:  52.255056 
#   Seafloor depth:           -103.158749
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.93;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.618168 meters
#   Minimum depth: 100.990199 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.501019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.990199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811801;
longitude = -122.026460;
duration = 219;
initialDepth = 47.165058;
finalDepth = 50.990199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.231885
#   Actual altitude:          51.231885
#   Commanded vehicle depth:  50.990199 
#   Seafloor depth:           -102.222084
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 108.057973 meters
#   Minimum depth: 97.165058 meters looking forward 100.000000 meters along route
#   Maximum depth: 100.474626 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.165058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812207;
longitude = -122.025340;
duration = 216;
initialDepth = 45.183316;
finalDepth = 47.165058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.309568
#   Actual altitude:          53.309568
#   Commanded vehicle depth:  47.165058 
#   Seafloor depth:           -100.474626
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 100.215290 meters
#   Minimum depth: 95.183316 meters looking forward 100.000000 meters along route
#   Maximum depth: 96.810671 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.183316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812608;
longitude = -122.024235;
duration = 200;
initialDepth = 44.363695;
finalDepth = 45.183316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.309568
#   Actual altitude:          53.309568
#   Commanded vehicle depth:  45.183316 
#   Seafloor depth:           -96.810671
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.616845 meters
#   Minimum depth: 94.363695 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.591425 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.363695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812979;
longitude = -122.023211;
duration = 219;
initialDepth = 44.199885;
finalDepth = 44.363695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.627355
#   Actual altitude:          51.627355
#   Commanded vehicle depth:  44.363695 
#   Seafloor depth:           -95.117398
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 106.470174 meters
#   Minimum depth: 94.199885 meters looking forward 100.000000 meters along route
#   Maximum depth: 94.825738 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.199885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813385;
longitude = -122.022091;
duration = 212;
initialDepth = 45.028533;
finalDepth = 44.199885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.753703
#   Actual altitude:          50.753703
#   Commanded vehicle depth:  44.199885 
#   Seafloor depth:           -94.354332
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 101.800573 meters
#   Minimum depth: 95.028533 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.482329 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.028533 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813779;
longitude = -122.021003;
duration = 203;
initialDepth = 44.931715;
finalDepth = 45.028533;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.154447
#   Actual altitude:          50.154447
#   Commanded vehicle depth:  45.028533 
#   Seafloor depth:           -95.111939
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.05;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.615521 meters
#   Minimum depth: 94.931715 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.469166 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.931715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814156;
longitude = -122.019962;
duration = 219;
initialDepth = 44.903441;
finalDepth = 44.931715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.083406
#   Actual altitude:          50.083406
#   Commanded vehicle depth:  44.931715 
#   Seafloor depth:           -95.000805
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.03;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 104.882415 meters
#   Minimum depth: 94.903441 meters looking forward 100.000000 meters along route
#   Maximum depth: 98.342499 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.903441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814562;
longitude = -122.018842;
duration = 209;
initialDepth = 45.562739;
finalDepth = 44.903441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.06909
#   Actual altitude:          50.06909
#   Commanded vehicle depth:  44.903441 
#   Seafloor depth:           -94.937942
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 103.385818 meters
#   Minimum depth: 95.562739 meters looking forward 100.000000 meters along route
#   Maximum depth: 98.149950 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.562739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814951;
longitude = -122.017770;
duration = 206;
initialDepth = 45.589569;
finalDepth = 45.562739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.545704
#   Actual altitude:          52.545704
#   Commanded vehicle depth:  45.562739 
#   Seafloor depth:           -98.108443
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 109.614198 meters
#   Minimum depth: 95.589569 meters looking forward 100.000000 meters along route
#   Maximum depth: 97.033846 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.589569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815334;
longitude = -122.016713;
duration = 219;
initialDepth = 46.988895;
finalDepth = 45.589569;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.545704
#   Actual altitude:          52.545704
#   Commanded vehicle depth:  45.589569 
#   Seafloor depth:           -97.033846
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 103.294693 meters
#   Minimum depth: 96.988895 meters looking forward 100.000000 meters along route
#   Maximum depth: 104.816278 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.988895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815740;
longitude = -122.015593;
duration = 206;
initialDepth = 55.466043;
finalDepth = 46.988895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.444277
#   Actual altitude:          51.444277
#   Commanded vehicle depth:  46.988895 
#   Seafloor depth:           -96.988895
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 104.971025 meters
#   Minimum depth: 105.466043 meters looking forward 100.000000 meters along route
#   Maximum depth: 107.187149 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.466043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816123;
longitude = -122.014537;
duration = 209;
initialDepth = 57.058944;
finalDepth = 55.466043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  55.466043 
#   Seafloor depth:           -105.466043
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 105.993543 meters
#   Minimum depth: 107.058944 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.085167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.058944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816511;
longitude = -122.013464;
duration = 211;
initialDepth = 64.518637;
finalDepth = 57.058944;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  57.058944 
#   Seafloor depth:           -107.058944
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 159.009027 meters
#   Minimum depth: 114.518637 meters looking forward 100.000000 meters along route
#   Maximum depth: 144.451681 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.518637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816904;
longitude = -122.012381;
duration = 318;
# abortOnTimeout    = True; 
initialDepth = 93.544438;
finalDepth = 64.518637;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  64.518637 
#   Seafloor depth:           -114.518637
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 80.836089 meters
#   Minimum depth: 143.544438 meters looking forward 100.000000 meters along route
#   Maximum depth: 146.442729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.544438 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815702;
longitude = -122.011410;
duration = 161;
# abortOnTimeout    = True; 
initialDepth = 88.256929;
finalDepth = 93.544438;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.796733
#   Actual altitude:          52.796733
#   Commanded vehicle depth:  93.544438 
#   Seafloor depth:           -146.341171
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.334654 meters
#   Minimum depth: 138.256929 meters looking forward 100.000000 meters along route
#   Maximum depth: 143.513336 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 88.256929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815402;
longitude = -122.012236;
duration = 218;
initialDepth = 70.179536;
finalDepth = 88.256929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.256407
#   Actual altitude:          55.256407
#   Commanded vehicle depth:  88.256929 
#   Seafloor depth:           -143.513336
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.691233 meters
#   Minimum depth: 120.179536 meters looking forward 100.000000 meters along route
#   Maximum depth: 137.918288 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 70.179536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814995;
longitude = -122.013352;
duration = 219;
initialDepth = 64.579856;
finalDepth = 70.179536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.389564
#   Actual altitude:          67.389564
#   Commanded vehicle depth:  70.179536 
#   Seafloor depth:           -137.569100
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.691692 meters
#   Minimum depth: 114.579856 meters looking forward 100.000000 meters along route
#   Maximum depth: 120.001083 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.579856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814587;
longitude = -122.014473;
duration = 219;
initialDepth = 66.609354;
finalDepth = 64.579856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.389564
#   Actual altitude:          67.389564
#   Commanded vehicle depth:  64.579856 
#   Seafloor depth:           -120.001083
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.692149 meters
#   Minimum depth: 116.609354 meters looking forward 100.000000 meters along route
#   Maximum depth: 137.566115 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.609354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814180;
longitude = -122.015593;
duration = 219;
initialDepth = 67.888995;
finalDepth = 66.609354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.421227
#   Actual altitude:          55.421227
#   Commanded vehicle depth:  66.609354 
#   Seafloor depth:           -116.609354
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.63;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.692608 meters
#   Minimum depth: 117.888995 meters looking forward 100.000000 meters along route
#   Maximum depth: 132.308323 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 67.888995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813772;
longitude = -122.016713;
duration = 219;
initialDepth = 80.491890;
finalDepth = 67.888995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.419328
#   Actual altitude:          64.419328
#   Commanded vehicle depth:  67.888995 
#   Seafloor depth:           -132.308323
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.33;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 106.596002 meters
#   Minimum depth: 130.491890 meters looking forward 100.000000 meters along route
#   Maximum depth: 143.794146 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 80.491890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813364;
longitude = -122.017834;
duration = 213;
initialDepth = 77.235863;
finalDepth = 80.491890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.419328
#   Actual altitude:          64.419328
#   Commanded vehicle depth:  80.49189 
#   Seafloor depth:           -134.584558
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.33;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 101.821213 meters
#   Minimum depth: 127.235863 meters looking forward 100.000000 meters along route
#   Maximum depth: 136.215271 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.235863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812968;
longitude = -122.018922;
duration = 203;
initialDepth = 72.543843;
finalDepth = 77.235863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.092668
#   Actual altitude:          54.092668
#   Commanded vehicle depth:  77.235863 
#   Seafloor depth:           -128.317735
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.693936 meters
#   Minimum depth: 122.543843 meters looking forward 100.000000 meters along route
#   Maximum depth: 128.551688 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.543843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812590;
longitude = -122.019962;
duration = 219;
initialDepth = 72.990769;
finalDepth = 72.543843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.007845
#   Actual altitude:          56.007845
#   Commanded vehicle depth:  72.543843 
#   Seafloor depth:           -128.551688
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.80;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 103.715795 meters
#   Minimum depth: 122.990769 meters looking forward 100.000000 meters along route
#   Maximum depth: 129.980824 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.990769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812182;
longitude = -122.021082;
duration = 207;
initialDepth = 76.558515;
finalDepth = 72.990769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.007845
#   Actual altitude:          56.007845
#   Commanded vehicle depth:  72.990769 
#   Seafloor depth:           -122.990769
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.80;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.703944 meters
#   Minimum depth: 126.558515 meters looking forward 100.000000 meters along route
#   Maximum depth: 131.845888 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 76.558515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811797;
longitude = -122.022142;
duration = 209;
initialDepth = 74.671976;
finalDepth = 76.558515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.175792
#   Actual altitude:          54.175792
#   Commanded vehicle depth:  76.558515 
#   Seafloor depth:           -130.734307
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.695264 meters
#   Minimum depth: 124.671976 meters looking forward 100.000000 meters along route
#   Maximum depth: 128.379637 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.671976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811407;
longitude = -122.023211;
duration = 219;
initialDepth = 77.891498;
finalDepth = 74.671976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.175792
#   Actual altitude:          54.175792
#   Commanded vehicle depth:  74.671976 
#   Seafloor depth:           -126.076520
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.25;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 100.835519 meters
#   Minimum depth: 127.891498 meters looking forward 100.000000 meters along route
#   Maximum depth: 134.890051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.891498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811000;
longitude = -122.024331;
duration = 201;
initialDepth = 77.674566;
finalDepth = 77.891498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.760976
#   Actual altitude:          52.760976
#   Commanded vehicle depth:  77.891498 
#   Seafloor depth:           -130.652474
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 107.586744 meters
#   Minimum depth: 127.674566 meters looking forward 100.000000 meters along route
#   Maximum depth: 133.619925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.674566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810625;
longitude = -122.025361;
duration = 215;
initialDepth = 71.213637;
finalDepth = 77.674566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.760976
#   Actual altitude:          52.760976
#   Commanded vehicle depth:  77.674566 
#   Seafloor depth:           -127.674566
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 110.654898 meters
#   Minimum depth: 121.213637 meters looking forward 100.000000 meters along route
#   Maximum depth: 128.031666 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 71.213637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810225;
longitude = -122.026460;
duration = 221;
initialDepth = 71.124090;
finalDepth = 71.213637;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.818029
#   Actual altitude:          56.818029
#   Commanded vehicle depth:  71.213637 
#   Seafloor depth:           -128.031666
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.05;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 108.738745 meters
#   Minimum depth: 121.124090 meters looking forward 100.000000 meters along route
#   Maximum depth: 135.093005 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 71.124090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809814;
longitude = -122.027590;
duration = 217;
initialDepth = 86.692868;
finalDepth = 71.124090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.818029
#   Actual altitude:          56.818029
#   Commanded vehicle depth:  71.12409 
#   Seafloor depth:           -121.842040
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.05;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.697509 meters
#   Minimum depth: 136.692868 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.661306 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.692868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809410;
longitude = -122.028701;
duration = 219;
initialDepth = 95.819649;
finalDepth = 86.692868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.71795
#   Actual altitude:          50.71795
#   Commanded vehicle depth:  86.692868 
#   Seafloor depth:           -136.692868
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.697967 meters
#   Minimum depth: 145.819649 meters looking forward 100.000000 meters along route
#   Maximum depth: 171.657108 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 95.819649 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809002;
longitude = -122.029821;
duration = 219;
initialDepth = 80.473651;
finalDepth = 95.819649;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.837459
#   Actual altitude:          75.837459
#   Commanded vehicle depth:  95.819649 
#   Seafloor depth:           -171.657108
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.75;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.698425 meters
#   Minimum depth: 130.473651 meters looking forward 100.000000 meters along route
#   Maximum depth: 142.802638 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 80.473651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808594;
longitude = -122.030941;
duration = 219;
initialDepth = 84.315182;
finalDepth = 80.473651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.837459
#   Actual altitude:          75.837459
#   Commanded vehicle depth:  80.473651 
#   Seafloor depth:           -142.802638
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.75;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.698883 meters
#   Minimum depth: 134.315182 meters looking forward 100.000000 meters along route
#   Maximum depth: 144.753403 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.315182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808187;
longitude = -122.032062;
duration = 219;
initialDepth = 92.836739;
finalDepth = 84.315182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.328987
#   Actual altitude:          62.328987
#   Commanded vehicle depth:  84.315182 
#   Seafloor depth:           -134.315182
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.70;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 107.204279 meters
#   Minimum depth: 142.836739 meters looking forward 100.000000 meters along route
#   Maximum depth: 147.242009 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 92.836739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807779;
longitude = -122.033182;
duration = 214;
initialDepth = 86.432002;
finalDepth = 92.836739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.789894
#   Actual altitude:          52.789894
#   Commanded vehicle depth:  92.836739 
#   Seafloor depth:           -145.626633
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 101.224862 meters
#   Minimum depth: 136.432002 meters looking forward 100.000000 meters along route
#   Maximum depth: 142.643924 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.432002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807381;
longitude = -122.034277;
duration = 202;
initialDepth = 89.407341;
finalDepth = 86.432002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.211922
#   Actual altitude:          56.211922
#   Commanded vehicle depth:  86.432002 
#   Seafloor depth:           -142.643924
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.86;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 109.700212 meters
#   Minimum depth: 139.407341 meters looking forward 100.000000 meters along route
#   Maximum depth: 147.575169 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 89.407341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807004;
longitude = -122.035310;
duration = 219;
initialDepth = 85.814705;
finalDepth = 89.407341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.211922
#   Actual altitude:          56.211922
#   Commanded vehicle depth:  89.407341 
#   Seafloor depth:           -139.407341
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.86;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.323915 meters
#   Minimum depth: 135.814705 meters looking forward 100.000000 meters along route
#   Maximum depth: 143.856198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 85.814705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806597;
longitude = -122.036431;
duration = 208;
initialDepth = 87.143759;
finalDepth = 85.814705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.041493
#   Actual altitude:          58.041493
#   Commanded vehicle depth:  85.814705 
#   Seafloor depth:           -143.856198
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 104.107751 meters
#   Minimum depth: 137.143759 meters looking forward 100.000000 meters along route
#   Maximum depth: 139.593449 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 87.143759 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806209;
longitude = -122.037496;
duration = 208;
initialDepth = 90.090446;
finalDepth = 87.143759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.041493
#   Actual altitude:          58.041493
#   Commanded vehicle depth:  87.143759 
#   Seafloor depth:           -137.815902
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 106.010527 meters
#   Minimum depth: 140.090446 meters looking forward 100.000000 meters along route
#   Maximum depth: 152.562950 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.090446 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805822;
longitude = -122.038559;
duration = 212;
initialDepth = 101.281715;
finalDepth = 90.090446;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.672143
#   Actual altitude:          50.672143
#   Commanded vehicle depth:  90.090446 
#   Seafloor depth:           -140.090446
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
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;
}
# 
#######################################################
# 
# 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 152.301065 meters
#   Minimum depth: 151.281715 meters looking forward 100.000000 meters along route
#   Maximum depth: 224.254693 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 101.281715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805428;
longitude = -122.039642;
duration = 304;
# abortOnTimeout    = True; 
initialDepth = 136.286830;
finalDepth = 101.281715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  101.281715 
#   Seafloor depth:           -151.281715
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 137.581970 meters
#   Minimum depth: 186.286830 meters looking forward 100.000000 meters along route
#   Maximum depth: 227.096882 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 136.286830 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804166;
longitude = -122.038970;
duration = 275;
# abortOnTimeout    = True; 
initialDepth = 135.959924;
finalDepth = 136.286830;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.810052
#   Actual altitude:          90.810052
#   Commanded vehicle depth:  136.28683 
#   Seafloor depth:           -227.096882
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.24;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 100.041571 meters
#   Minimum depth: 185.959924 meters looking forward 100.000000 meters along route
#   Maximum depth: 213.975006 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 135.959924 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804677;
longitude = -122.037565;
duration = 200;
initialDepth = 163.305803;
finalDepth = 135.959924;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.810052
#   Actual altitude:          90.810052
#   Commanded vehicle depth:  135.959924 
#   Seafloor depth:           -185.959924
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.24;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.678961 meters
#   Minimum depth: 213.305803 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.687453 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 163.305803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805048;
longitude = -122.036543;
duration = 219;
initialDepth = 154.998997;
finalDepth = 163.305803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.023155
#   Actual altitude:          51.023155
#   Commanded vehicle depth:  163.305803 
#   Seafloor depth:           -214.328958
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 105.858078 meters
#   Minimum depth: 204.998997 meters looking forward 100.000000 meters along route
#   Maximum depth: 212.349151 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 154.998997 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805455;
longitude = -122.035422;
duration = 211;
initialDepth = 154.539831;
finalDepth = 154.998997;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.585559
#   Actual altitude:          55.585559
#   Commanded vehicle depth:  154.998997 
#   Seafloor depth:           -210.584556
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.68;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 102.530687 meters
#   Minimum depth: 204.539831 meters looking forward 100.000000 meters along route
#   Maximum depth: 210.355428 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 154.539831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805848;
longitude = -122.034341;
duration = 205;
initialDepth = 155.212812;
finalDepth = 154.539831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.585559
#   Actual altitude:          55.585559
#   Commanded vehicle depth:  154.539831 
#   Seafloor depth:           -204.664954
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.68;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.677634 meters
#   Minimum depth: 205.212812 meters looking forward 100.000000 meters along route
#   Maximum depth: 208.841080 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 155.212812 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806229;
longitude = -122.033294;
duration = 219;
initialDepth = 142.009106;
finalDepth = 155.212812;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.628268
#   Actual altitude:          53.628268
#   Commanded vehicle depth:  155.212812 
#   Seafloor depth:           -208.841080
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.09;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 103.366499 meters
#   Minimum depth: 192.009106 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.588921 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 142.009106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806636;
longitude = -122.032174;
duration = 206;
initialDepth = 112.056211;
finalDepth = 142.009106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.562683
#   Actual altitude:          65.562683
#   Commanded vehicle depth:  142.009106 
#   Seafloor depth:           -207.571789
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.67;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 105.019743 meters
#   Minimum depth: 162.056211 meters looking forward 100.000000 meters along route
#   Maximum depth: 190.621082 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 112.056211 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807020;
longitude = -122.031118;
duration = 210;
initialDepth = 120.320581;
finalDepth = 112.056211;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.490415
#   Actual altitude:          78.490415
#   Commanded vehicle depth:  112.056211 
#   Seafloor depth:           -190.546626
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.676307 meters
#   Minimum depth: 170.320581 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.400896 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 120.320581 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807410;
longitude = -122.030045;
duration = 219;
initialDepth = 121.667759;
finalDepth = 120.320581;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.490415
#   Actual altitude:          78.490415
#   Commanded vehicle depth:  120.320581 
#   Seafloor depth:           -170.320581
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 100.874980 meters
#   Minimum depth: 171.667759 meters looking forward 100.000000 meters along route
#   Maximum depth: 210.148279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.667759 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807817;
longitude = -122.028925;
duration = 201;
initialDepth = 107.430096;
finalDepth = 121.667759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.48052
#   Actual altitude:          88.48052
#   Commanded vehicle depth:  121.667759 
#   Seafloor depth:           -210.148279
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 107.508741 meters
#   Minimum depth: 157.430096 meters looking forward 100.000000 meters along route
#   Maximum depth: 174.721169 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 107.430096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808192;
longitude = -122.027894;
duration = 215;
initialDepth = 128.144350;
finalDepth = 107.430096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.48052
#   Actual altitude:          88.48052
#   Commanded vehicle depth:  107.430096 
#   Seafloor depth:           -171.540957
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 110.961291 meters
#   Minimum depth: 178.144350 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.079337 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 128.144350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808591;
longitude = -122.026796;
duration = 221;
initialDepth = 163.345889;
finalDepth = 128.144350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.110861
#   Actual altitude:          64.110861
#   Commanded vehicle depth:  128.14435 
#   Seafloor depth:           -178.144350
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.23;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 108.388209 meters
#   Minimum depth: 213.345889 meters looking forward 100.000000 meters along route
#   Maximum depth: 223.362811 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 163.345889 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809003;
longitude = -122.025663;
duration = 216;
initialDepth = 145.712064;
finalDepth = 163.345889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.940992
#   Actual altitude:          51.940992
#   Commanded vehicle depth:  163.345889 
#   Seafloor depth:           -215.286881
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 110.080008 meters
#   Minimum depth: 195.712064 meters looking forward 100.000000 meters along route
#   Maximum depth: 222.067756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 145.712064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809405;
longitude = -122.024555;
duration = 220;
initialDepth = 134.903701;
finalDepth = 145.712064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.066446
#   Actual altitude:          70.066446
#   Commanded vehicle depth:  145.712064 
#   Seafloor depth:           -215.778510
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.267662 meters
#   Minimum depth: 184.903701 meters looking forward 100.000000 meters along route
#   Maximum depth: 205.175347 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 134.903701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809814;
longitude = -122.023431;
duration = 218;
initialDepth = 150.352646;
finalDepth = 134.903701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.271646
#   Actual altitude:          70.271646
#   Commanded vehicle depth:  134.903701 
#   Seafloor depth:           -205.175347
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.673149 meters
#   Minimum depth: 200.352646 meters looking forward 100.000000 meters along route
#   Maximum depth: 214.903239 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 150.352646 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810220;
longitude = -122.022315;
duration = 219;
initialDepth = 127.711497;
finalDepth = 150.352646;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.271646
#   Actual altitude:          70.271646
#   Commanded vehicle depth:  150.352646 
#   Seafloor depth:           -200.352646
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.08;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.672691 meters
#   Minimum depth: 177.711497 meters looking forward 100.000000 meters along route
#   Maximum depth: 206.438508 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 127.711497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810627;
longitude = -122.021194;
duration = 219;
initialDepth = 122.911800;
finalDepth = 127.711497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.727011
#   Actual altitude:          78.727011
#   Commanded vehicle depth:  127.711497 
#   Seafloor depth:           -206.438508
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.672234 meters
#   Minimum depth: 172.911800 meters looking forward 100.000000 meters along route
#   Maximum depth: 201.990995 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 122.911800 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811034;
longitude = -122.020074;
duration = 219;
initialDepth = 152.788053;
finalDepth = 122.911800;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.727011
#   Actual altitude:          78.727011
#   Commanded vehicle depth:  122.9118 
#   Seafloor depth:           -178.975156
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.671776 meters
#   Minimum depth: 202.788053 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.317761 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 152.788053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811441;
longitude = -122.018954;
duration = 219;
initialDepth = 151.487303;
finalDepth = 152.788053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.063356
#   Actual altitude:          56.063356
#   Commanded vehicle depth:  152.788053 
#   Seafloor depth:           -202.788053
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.82;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.671319 meters
#   Minimum depth: 201.487303 meters looking forward 100.000000 meters along route
#   Maximum depth: 231.260719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 151.487303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811848;
longitude = -122.017834;
duration = 219;
initialDepth = 147.307792;
finalDepth = 151.487303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.534502
#   Actual altitude:          62.534502
#   Commanded vehicle depth:  151.487303 
#   Seafloor depth:           -214.021805
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.670862 meters
#   Minimum depth: 197.307792 meters looking forward 100.000000 meters along route
#   Maximum depth: 208.539934 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 147.307792 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812256;
longitude = -122.016713;
duration = 219;
initialDepth = 161.069941;
finalDepth = 147.307792;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.534502
#   Actual altitude:          62.534502
#   Commanded vehicle depth:  147.307792 
#   Seafloor depth:           -207.500644
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 106.555019 meters
#   Minimum depth: 211.069941 meters looking forward 100.000000 meters along route
#   Maximum depth: 227.842835 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 161.069941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812663;
longitude = -122.015593;
duration = 213;
initialDepth = 139.616557;
finalDepth = 161.069941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.192852
#   Actual altitude:          60.192852
#   Commanded vehicle depth:  161.069941 
#   Seafloor depth:           -211.069941
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.06;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 101.818357 meters
#   Minimum depth: 189.616557 meters looking forward 100.000000 meters along route
#   Maximum depth: 210.561464 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 139.616557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813058;
longitude = -122.014504;
duration = 203;
initialDepth = 138.253868;
finalDepth = 139.616557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.944907
#   Actual altitude:          70.944907
#   Commanded vehicle depth:  139.616557 
#   Seafloor depth:           -210.561464
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.28;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.669535 meters
#   Minimum depth: 188.253868 meters looking forward 100.000000 meters along route
#   Maximum depth: 205.374483 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 138.253868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813436;
longitude = -122.013464;
duration = 219;
initialDepth = 141.477715;
finalDepth = 138.253868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.944907
#   Actual altitude:          70.944907
#   Commanded vehicle depth:  138.253868 
#   Seafloor depth:           -192.431539
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.28;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 104.063618 meters
#   Minimum depth: 191.477715 meters looking forward 100.000000 meters along route
#   Maximum depth: 203.312602 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 141.477715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813844;
longitude = -122.012344;
duration = 208;
initialDepth = 152.210262;
finalDepth = 141.477715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.834887
#   Actual altitude:          61.834887
#   Commanded vehicle depth:  141.477715 
#   Seafloor depth:           -203.312602
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 104.307239 meters
#   Minimum depth: 202.210262 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.097392 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 152.210262 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814230;
longitude = -122.011281;
duration = 208;
initialDepth = 139.587903;
finalDepth = 152.210262;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.834887
#   Actual altitude:          61.834887
#   Commanded vehicle depth:  152.210262 
#   Seafloor depth:           -202.210262
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.55;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 106.055518 meters
#   Minimum depth: 189.587903 meters looking forward 100.000000 meters along route
#   Maximum depth: 202.161042 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 139.587903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814617;
longitude = -122.010215;
duration = 212;
initialDepth = 139.141499;
finalDepth = 139.587903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.573139
#   Actual altitude:          62.573139
#   Commanded vehicle depth:  139.587903 
#   Seafloor depth:           -202.161042
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.77;
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;
}
# 
#######################################################
# 
# 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 156.087455 meters
#   Minimum depth: 189.141499 meters looking forward 100.000000 meters along route
#   Maximum depth: 229.311873 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 139.141499 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815011;
longitude = -122.009132;
duration = 312;
# abortOnTimeout    = True; 
initialDepth = 180.467388;
finalDepth = 139.141499;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.573139
#   Actual altitude:          62.573139
#   Commanded vehicle depth:  139.141499 
#   Seafloor depth:           -189.141499
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.77;
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;
}
# 
#######################################################
# 
# 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 172.094588 meters
#   Minimum depth: 230.467388 meters looking forward 100.000000 meters along route
#   Maximum depth: 270.651057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 180.467388 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813930;
longitude = -122.008012;
duration = 344;
# abortOnTimeout    = True; 
initialDepth = 215.547280;
finalDepth = 180.467388;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  180.467388 
#   Seafloor depth:           -230.467388
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.840483 meters
#   Minimum depth: 265.547280 meters looking forward 100.000000 meters along route
#   Maximum depth: 276.014259 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 215.547280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813286;
longitude = -122.009767;
duration = 219;
initialDepth = 200.730876;
finalDepth = 215.547280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.179462
#   Actual altitude:          58.179462
#   Commanded vehicle depth:  215.54728 
#   Seafloor depth:           -273.726742
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.45;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.840944 meters
#   Minimum depth: 250.730876 meters looking forward 100.000000 meters along route
#   Maximum depth: 275.481957 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 200.730876 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812875;
longitude = -122.010888;
duration = 219;
initialDepth = 224.449979;
finalDepth = 200.730876;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.681977
#   Actual altitude:          64.681977
#   Commanded vehicle depth:  200.730876 
#   Seafloor depth:           -265.412853
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.242507 meters
#   Minimum depth: 274.449979 meters looking forward 100.000000 meters along route
#   Maximum depth: 286.397622 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 224.449979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812464;
longitude = -122.012008;
duration = 212;
initialDepth = 239.580759;
finalDepth = 224.449979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.681977
#   Actual altitude:          64.681977
#   Commanded vehicle depth:  224.449979 
#   Seafloor depth:           -282.037622
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.40;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.456555 meters
#   Minimum depth: 289.580759 meters looking forward 100.000000 meters along route
#   Maximum depth: 299.847365 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 239.580759 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812067;
longitude = -122.013092;
duration = 204;
initialDepth = 247.395508;
finalDepth = 239.580759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.587643
#   Actual altitude:          57.587643
#   Commanded vehicle depth:  239.580759 
#   Seafloor depth:           -289.580759
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.28;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.842281 meters
#   Minimum depth: 297.395508 meters looking forward 100.000000 meters along route
#   Maximum depth: 304.492331 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 247.395508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811684;
longitude = -122.014137;
duration = 219;
initialDepth = 248.129549;
finalDepth = 247.395508;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.550704
#   Actual altitude:          50.550704
#   Commanded vehicle depth:  247.395508 
#   Seafloor depth:           -297.946212
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.895237 meters
#   Minimum depth: 298.129549 meters looking forward 100.000000 meters along route
#   Maximum depth: 310.253315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 248.129549 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811273;
longitude = -122.015257;
duration = 201;
initialDepth = 234.891741;
finalDepth = 248.129549;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.030327
#   Actual altitude:          57.030327
#   Commanded vehicle depth:  248.129549 
#   Seafloor depth:           -305.159876
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 107.806365 meters
#   Minimum depth: 284.891741 meters looking forward 100.000000 meters along route
#   Maximum depth: 300.649142 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 234.891741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810895;
longitude = -122.016286;
duration = 215;
initialDepth = 209.664459;
finalDepth = 234.891741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.002209
#   Actual altitude:          63.002209
#   Commanded vehicle depth:  234.891741 
#   Seafloor depth:           -297.893950
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.90;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.843617 meters
#   Minimum depth: 259.664459 meters looking forward 100.000000 meters along route
#   Maximum depth: 278.919668 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 209.664459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810492;
longitude = -122.017385;
duration = 219;
initialDepth = 203.418153;
finalDepth = 209.664459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.255209
#   Actual altitude:          69.255209
#   Commanded vehicle depth:  209.664459 
#   Seafloor depth:           -278.919668
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.78;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.844078 meters
#   Minimum depth: 253.418153 meters looking forward 100.000000 meters along route
#   Maximum depth: 271.274770 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 203.418153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810081;
longitude = -122.018506;
duration = 219;
initialDepth = 205.686584;
finalDepth = 203.418153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.255209
#   Actual altitude:          69.255209
#   Commanded vehicle depth:  203.418153 
#   Seafloor depth:           -269.340237
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.78;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.165458 meters
#   Minimum depth: 255.686584 meters looking forward 100.000000 meters along route
#   Maximum depth: 275.917487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 205.686584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809670;
longitude = -122.019626;
duration = 212;
initialDepth = 225.833799;
finalDepth = 205.686584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.922084
#   Actual altitude:          65.922084
#   Commanded vehicle depth:  205.686584 
#   Seafloor depth:           -261.247037
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.78;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.539561 meters
#   Minimum depth: 275.833799 meters looking forward 100.000000 meters along route
#   Maximum depth: 296.961703 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 225.833799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809273;
longitude = -122.020709;
duration = 205;
initialDepth = 245.307640;
finalDepth = 225.833799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.560453
#   Actual altitude:          55.560453
#   Commanded vehicle depth:  225.833799 
#   Seafloor depth:           -280.462195
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.67;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.845415 meters
#   Minimum depth: 295.307640 meters looking forward 100.000000 meters along route
#   Maximum depth: 303.712221 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 245.307640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808890;
longitude = -122.021755;
duration = 219;
initialDepth = 243.883849;
finalDepth = 245.307640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.628396
#   Actual altitude:          54.628396
#   Commanded vehicle depth:  245.30764 
#   Seafloor depth:           -295.307640
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.39;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.818034 meters
#   Minimum depth: 293.883849 meters looking forward 100.000000 meters along route
#   Maximum depth: 303.069945 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 243.883849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808479;
longitude = -122.022875;
duration = 201;
initialDepth = 243.999370;
finalDepth = 243.883849;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.186096
#   Actual altitude:          59.186096
#   Commanded vehicle depth:  243.883849 
#   Seafloor depth:           -303.069945
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 107.889525 meters
#   Minimum depth: 293.999370 meters looking forward 100.000000 meters along route
#   Maximum depth: 302.393564 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 243.999370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808101;
longitude = -122.023903;
duration = 215;
initialDepth = 213.228620;
finalDepth = 243.999370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.186096
#   Actual altitude:          59.186096
#   Commanded vehicle depth:  243.99937 
#   Seafloor depth:           -293.999370
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.76;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.846752 meters
#   Minimum depth: 263.228620 meters looking forward 100.000000 meters along route
#   Maximum depth: 300.315283 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 213.228620 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807698;
longitude = -122.025004;
duration = 219;
initialDepth = 208.799284;
finalDepth = 213.228620;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.086663
#   Actual altitude:          87.086663
#   Commanded vehicle depth:  213.22862 
#   Seafloor depth:           -300.315283
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.13;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.847214 meters
#   Minimum depth: 258.799284 meters looking forward 100.000000 meters along route
#   Maximum depth: 273.454472 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.799284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807287;
longitude = -122.026124;
duration = 219;
initialDepth = 213.196494;
finalDepth = 208.799284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.086663
#   Actual altitude:          87.086663
#   Commanded vehicle depth:  208.799284 
#   Seafloor depth:           -263.102179
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.13;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.088405 meters
#   Minimum depth: 263.196494 meters looking forward 100.000000 meters along route
#   Maximum depth: 276.717847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 213.196494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806876;
longitude = -122.027244;
duration = 212;
initialDepth = 175.834401;
finalDepth = 213.196494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.303206
#   Actual altitude:          54.303206
#   Commanded vehicle depth:  213.196494 
#   Seafloor depth:           -267.499700
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.29;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.622571 meters
#   Minimum depth: 225.834401 meters looking forward 100.000000 meters along route
#   Maximum depth: 257.823254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.834401 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806479;
longitude = -122.028326;
duration = 205;
initialDepth = 191.286263;
finalDepth = 175.834401;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.988853
#   Actual altitude:          81.988853
#   Commanded vehicle depth:  175.834401 
#   Seafloor depth:           -257.823254
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.60;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.848552 meters
#   Minimum depth: 241.286263 meters looking forward 100.000000 meters along route
#   Maximum depth: 275.648262 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.286263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806095;
longitude = -122.029373;
duration = 219;
initialDepth = 233.714252;
finalDepth = 191.286263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.988853
#   Actual altitude:          81.988853
#   Commanded vehicle depth:  191.286263 
#   Seafloor depth:           -241.286263
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.60;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.740828 meters
#   Minimum depth: 283.714252 meters looking forward 100.000000 meters along route
#   Maximum depth: 341.064815 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 233.714252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805684;
longitude = -122.030493;
duration = 201;
initialDepth = 228.514753;
finalDepth = 233.714252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  233.714252 
#   Seafloor depth:           -283.714252
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 107.972689 meters
#   Minimum depth: 278.514753 meters looking forward 100.000000 meters along route
#   Maximum depth: 340.431503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 228.514753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805308;
longitude = -122.031521;
duration = 215;
initialDepth = 229.987988;
finalDepth = 228.514753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       111.91675
#   Actual altitude:          100
#   Commanded vehicle depth:  228.514753 
#   Seafloor depth:           -340.431503
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.849889 meters
#   Minimum depth: 279.987988 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.090382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 229.987988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804904;
longitude = -122.032622;
duration = 219;
initialDepth = 236.556831;
finalDepth = 229.987988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       111.91675
#   Actual altitude:          100
#   Commanded vehicle depth:  229.987988 
#   Seafloor depth:           -283.105041
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 109.850350 meters
#   Minimum depth: 286.556831 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.551126 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 236.556831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804493;
longitude = -122.033742;
duration = 219;
initialDepth = 229.736626;
finalDepth = 236.556831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.994295
#   Actual altitude:          80.994295
#   Commanded vehicle depth:  236.556831 
#   Seafloor depth:           -317.551126
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.30;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.011349 meters
#   Minimum depth: 279.736626 meters looking forward 100.000000 meters along route
#   Maximum depth: 283.137315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 229.736626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804082;
longitude = -122.034862;
duration = 212;
initialDepth = 227.672622;
finalDepth = 229.736626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.994295
#   Actual altitude:          80.994295
#   Commanded vehicle depth:  229.736626 
#   Seafloor depth:           -282.868470
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.30;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.705588 meters
#   Minimum depth: 277.672622 meters looking forward 100.000000 meters along route
#   Maximum depth: 283.946538 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 227.672622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803685;
longitude = -122.035943;
duration = 205;
initialDepth = 233.951975;
finalDepth = 227.672622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.781868
#   Actual altitude:          55.781868
#   Commanded vehicle depth:  227.672622 
#   Seafloor depth:           -283.454490
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.73;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 106.198864 meters
#   Minimum depth: 283.951975 meters looking forward 100.000000 meters along route
#   Maximum depth: 296.031632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 233.951975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803301;
longitude = -122.036991;
duration = 212;
initialDepth = 244.730469;
finalDepth = 233.951975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.781868
#   Actual altitude:          55.781868
#   Commanded vehicle depth:  233.951975 
#   Seafloor depth:           -283.951975
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.73;
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;
}
# 
#######################################################
# 
# 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 165.482416 meters
#   Minimum depth: 294.730469 meters looking forward 100.000000 meters along route
#   Maximum depth: 374.333727 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 244.730469 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802904;
longitude = -122.038074;
duration = 330;
# abortOnTimeout    = True; 
initialDepth = 325.422745;
finalDepth = 244.730469;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  244.730469 
#   Seafloor depth:           -294.730469
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 126.867480 meters
#   Minimum depth: 375.422745 meters looking forward 100.000000 meters along route
#   Maximum depth: 381.860115 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 325.422745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801492;
longitude = -122.037476;
duration = 253;
# abortOnTimeout    = True; 
initialDepth = 325.236996;
finalDepth = 325.422745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  325.422745 
#   Seafloor depth:           -375.422745
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 108.122222 meters
#   Minimum depth: 375.236996 meters looking forward 100.000000 meters along route
#   Maximum depth: 387.069264 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 325.236996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801973;
longitude = -122.036186;
duration = 216;
initialDepth = 336.684628;
finalDepth = 325.236996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.412234
#   Actual altitude:          54.412234
#   Commanded vehicle depth:  325.236996 
#   Seafloor depth:           -379.649230
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.789017 meters
#   Minimum depth: 386.684628 meters looking forward 100.000000 meters along route
#   Maximum depth: 392.082692 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 336.684628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802383;
longitude = -122.035086;
duration = 211;
initialDepth = 339.808405;
finalDepth = 336.684628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.412234
#   Actual altitude:          54.412234
#   Commanded vehicle depth:  336.684628 
#   Seafloor depth:           -388.494085
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.32;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.532612 meters
#   Minimum depth: 389.808405 meters looking forward 100.000000 meters along route
#   Maximum depth: 403.193854 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 339.808405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802784;
longitude = -122.034011;
duration = 207;
initialDepth = 355.591383;
finalDepth = 339.808405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.809457
#   Actual altitude:          51.809457
#   Commanded vehicle depth:  339.808405 
#   Seafloor depth:           -389.808405
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.376864 meters
#   Minimum depth: 405.591383 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.539804 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 355.591383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803177;
longitude = -122.032958;
duration = 220;
initialDepth = 361.218487;
finalDepth = 355.591383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  355.591383 
#   Seafloor depth:           -405.591383
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 109.959869 meters
#   Minimum depth: 411.218487 meters looking forward 100.000000 meters along route
#   Maximum depth: 419.803363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 361.218487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803595;
longitude = -122.031835;
duration = 219;
initialDepth = 353.312094;
finalDepth = 361.218487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  361.218487 
#   Seafloor depth:           -411.218487
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.947843 meters
#   Minimum depth: 403.312094 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.310171 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 353.312094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804012;
longitude = -122.030717;
duration = 207;
initialDepth = 322.066660;
finalDepth = 353.312094;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.998077
#   Actual altitude:          59.998077
#   Commanded vehicle depth:  353.312094 
#   Seafloor depth:           -413.310171
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.370319 meters
#   Minimum depth: 372.066660 meters looking forward 100.000000 meters along route
#   Maximum depth: 401.515644 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 322.066660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804406;
longitude = -122.029660;
duration = 210;
initialDepth = 275.567868;
finalDepth = 322.066660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.448984
#   Actual altitude:          79.448984
#   Commanded vehicle depth:  322.06666 
#   Seafloor depth:           -401.515644
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.83;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.166776 meters
#   Minimum depth: 325.567868 meters looking forward 100.000000 meters along route
#   Maximum depth: 367.811739 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 275.567868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804806;
longitude = -122.028589;
duration = 220;
initialDepth = 265.830880;
finalDepth = 275.567868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.243871
#   Actual altitude:          92.243871
#   Commanded vehicle depth:  275.567868 
#   Seafloor depth:           -367.811739
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.67;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.166309 meters
#   Minimum depth: 315.830880 meters looking forward 100.000000 meters along route
#   Maximum depth: 369.351544 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 265.830880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805224;
longitude = -122.027468;
duration = 220;
initialDepth = 292.814188;
finalDepth = 265.830880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.243871
#   Actual altitude:          92.243871
#   Commanded vehicle depth:  265.83088 
#   Seafloor depth:           -325.317182
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.67;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.106729 meters
#   Minimum depth: 342.814188 meters looking forward 100.000000 meters along route
#   Maximum depth: 373.217171 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 292.814188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805641;
longitude = -122.026348;
duration = 204;
initialDepth = 287.304186;
finalDepth = 292.814188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.031586
#   Actual altitude:          79.031586
#   Commanded vehicle depth:  292.814188 
#   Seafloor depth:           -371.845774
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 107.207968 meters
#   Minimum depth: 337.304186 meters looking forward 100.000000 meters along route
#   Maximum depth: 357.830817 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 287.304186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806029;
longitude = -122.025310;
duration = 214;
initialDepth = 301.192979;
finalDepth = 287.304186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.031586
#   Actual altitude:          79.031586
#   Commanded vehicle depth:  287.304186 
#   Seafloor depth:           -341.471829
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.164952 meters
#   Minimum depth: 351.192979 meters looking forward 100.000000 meters along route
#   Maximum depth: 358.375929 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 301.192979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806435;
longitude = -122.024219;
duration = 220;
initialDepth = 305.416842;
finalDepth = 301.192979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.18295
#   Actual altitude:          57.18295
#   Commanded vehicle depth:  301.192979 
#   Seafloor depth:           -358.375929
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.164484 meters
#   Minimum depth: 355.416842 meters looking forward 100.000000 meters along route
#   Maximum depth: 361.188028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 305.416842 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806853;
longitude = -122.023099;
duration = 220;
initialDepth = 307.590725;
finalDepth = 305.416842;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.18295
#   Actual altitude:          57.18295
#   Commanded vehicle depth:  305.416842 
#   Seafloor depth:           -355.416842
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.15;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.265677 meters
#   Minimum depth: 357.590725 meters looking forward 100.000000 meters along route
#   Maximum depth: 361.641723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 307.590725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807271;
longitude = -122.021979;
duration = 200;
initialDepth = 298.854345;
finalDepth = 307.590725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.409005
#   Actual altitude:          53.409005
#   Commanded vehicle depth:  307.590725 
#   Seafloor depth:           -360.999730
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.02;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 109.045555 meters
#   Minimum depth: 348.854345 meters looking forward 100.000000 meters along route
#   Maximum depth: 362.522922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 298.854345 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807651;
longitude = -122.020959;
duration = 218;
initialDepth = 282.591283;
finalDepth = 298.854345;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.636807
#   Actual altitude:          61.636807
#   Commanded vehicle depth:  298.854345 
#   Seafloor depth:           -360.491152
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.49;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 104.853342 meters
#   Minimum depth: 332.591283 meters looking forward 100.000000 meters along route
#   Maximum depth: 346.298722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 282.591283 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808064;
longitude = -122.019850;
duration = 209;
initialDepth = 283.996893;
finalDepth = 282.591283;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.707439
#   Actual altitude:          63.707439
#   Commanded vehicle depth:  282.591283 
#   Seafloor depth:           -346.298722
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 104.456202 meters
#   Minimum depth: 333.996893 meters looking forward 100.000000 meters along route
#   Maximum depth: 348.963157 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 283.996893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808462;
longitude = -122.018784;
duration = 208;
initialDepth = 299.021525;
finalDepth = 283.996893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.707439
#   Actual altitude:          63.707439
#   Commanded vehicle depth:  283.996893 
#   Seafloor depth:           -334.525083
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.162240 meters
#   Minimum depth: 349.021525 meters looking forward 100.000000 meters along route
#   Maximum depth: 358.131574 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.021525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808858;
longitude = -122.017722;
duration = 220;
initialDepth = 301.429342;
finalDepth = 299.021525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.52819
#   Actual altitude:          50.52819
#   Commanded vehicle depth:  299.021525 
#   Seafloor depth:           -349.021525
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.16;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.161772 meters
#   Minimum depth: 351.429342 meters looking forward 100.000000 meters along route
#   Maximum depth: 358.741763 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 301.429342 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809276;
longitude = -122.016601;
duration = 220;
initialDepth = 308.373606;
finalDepth = 301.429342;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.216396
#   Actual altitude:          55.216396
#   Commanded vehicle depth:  301.429342 
#   Seafloor depth:           -356.645738
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.56;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.012290 meters
#   Minimum depth: 358.373606 meters looking forward 100.000000 meters along route
#   Maximum depth: 363.670099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 308.373606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809694;
longitude = -122.015481;
duration = 206;
initialDepth = 306.378661;
finalDepth = 308.373606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.216396
#   Actual altitude:          55.216396
#   Commanded vehicle depth:  308.373606 
#   Seafloor depth:           -358.373606
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.56;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 106.293790 meters
#   Minimum depth: 356.378661 meters looking forward 100.000000 meters along route
#   Maximum depth: 360.054035 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 306.378661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810084;
longitude = -122.014433;
duration = 212;
initialDepth = 297.196070;
finalDepth = 306.378661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.351288
#   Actual altitude:          52.351288
#   Commanded vehicle depth:  306.378661 
#   Seafloor depth:           -358.729949
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.160417 meters
#   Minimum depth: 347.196070 meters looking forward 100.000000 meters along route
#   Maximum depth: 362.623367 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 297.196070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810487;
longitude = -122.013352;
duration = 220;
initialDepth = 274.721876;
finalDepth = 297.196070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.92074
#   Actual altitude:          62.92074
#   Commanded vehicle depth:  297.19607 
#   Seafloor depth:           -360.116810
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.88;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.159950 meters
#   Minimum depth: 324.721876 meters looking forward 100.000000 meters along route
#   Maximum depth: 347.571746 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 274.721876 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810905;
longitude = -122.012232;
duration = 220;
initialDepth = 269.801348;
finalDepth = 274.721876;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.84987
#   Actual altitude:          72.84987
#   Commanded vehicle depth:  274.721876 
#   Seafloor depth:           -347.571746
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.85;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.171298 meters
#   Minimum depth: 319.801348 meters looking forward 100.000000 meters along route
#   Maximum depth: 324.859344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 269.801348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811323;
longitude = -122.011112;
duration = 202;
initialDepth = 270.011484;
finalDepth = 269.801348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.84987
#   Actual altitude:          72.84987
#   Commanded vehicle depth:  269.801348 
#   Seafloor depth:           -324.692459
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.85;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 108.131318 meters
#   Minimum depth: 320.011484 meters looking forward 100.000000 meters along route
#   Maximum depth: 325.534437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 270.011484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811706;
longitude = -122.010083;
duration = 216;
initialDepth = 258.503534;
finalDepth = 270.011484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.891111
#   Actual altitude:          54.891111
#   Commanded vehicle depth:  270.011484 
#   Seafloor depth:           -320.011484
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.47;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 110.158594 meters
#   Minimum depth: 308.503534 meters looking forward 100.000000 meters along route
#   Maximum depth: 319.869132 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 258.503534 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812117;
longitude = -122.008983;
duration = 220;
initialDepth = 215.246431;
finalDepth = 258.503534;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.365598
#   Actual altitude:          61.365598
#   Commanded vehicle depth:  258.503534 
#   Seafloor depth:           -319.869132
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.41;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 106.464253 meters
#   Minimum depth: 265.246431 meters looking forward 100.000000 meters along route
#   Maximum depth: 307.697756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 215.246431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812534;
longitude = -122.007863;
duration = 212;
initialDepth = 217.000633;
finalDepth = 215.246431;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       92.4513250000001
#   Actual altitude:          92.4513250000001
#   Commanded vehicle depth:  215.246431 
#   Seafloor depth:           -307.697756
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.74;
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;
}
# 
#######################################################
# 
# 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 146.643423 meters
#   Minimum depth: 267.000633 meters looking forward 100.000000 meters along route
#   Maximum depth: 323.210071 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 217.000633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812938;
longitude = -122.006780;
duration = 293;
# abortOnTimeout    = True; 
initialDepth = 273.794935;
finalDepth = 217.000633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.4513250000001
#   Actual altitude:          92.4513250000001
#   Commanded vehicle depth:  217.000633 
#   Seafloor depth:           -267.000633
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.74;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.543221 meters
#   Minimum depth: 323.794935 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.334339 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 273.794935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812157;
longitude = -122.008106;
duration = 203;
initialDepth = 285.112881;
finalDepth = 273.794935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.146113
#   Actual altitude:          50.146113
#   Commanded vehicle depth:  273.794935 
#   Seafloor depth:           -323.941048
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.04;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.543666 meters
#   Minimum depth: 335.112881 meters looking forward 100.000000 meters along route
#   Maximum depth: 338.514519 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 285.112881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811616;
longitude = -122.009025;
duration = 203;
initialDepth = 286.519873;
finalDepth = 285.112881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.398368
#   Actual altitude:          50.398368
#   Commanded vehicle depth:  285.112881 
#   Seafloor depth:           -335.511249
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.544108 meters
#   Minimum depth: 336.519873 meters looking forward 100.000000 meters along route
#   Maximum depth: 345.912347 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 286.519873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811076;
longitude = -122.009943;
duration = 203;
initialDepth = 297.147660;
finalDepth = 286.519873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.398368
#   Actual altitude:          50.398368
#   Commanded vehicle depth:  286.519873 
#   Seafloor depth:           -336.882618
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.956466 meters
#   Minimum depth: 347.147660 meters looking forward 100.000000 meters along route
#   Maximum depth: 378.824247 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 297.147660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810535;
longitude = -122.010862;
duration = 203;
initialDepth = 328.926663;
finalDepth = 297.147660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.362745
#   Actual altitude:          50.362745
#   Commanded vehicle depth:  297.14766 
#   Seafloor depth:           -347.147660
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.133083 meters
#   Minimum depth: 378.926663 meters looking forward 100.000000 meters along route
#   Maximum depth: 393.654219 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 328.926663 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809992;
longitude = -122.011784;
duration = 202;
initialDepth = 343.888250;
finalDepth = 328.926663;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  328.926663 
#   Seafloor depth:           -378.926663
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.545440 meters
#   Minimum depth: 393.888250 meters looking forward 100.000000 meters along route
#   Maximum depth: 401.733727 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 343.888250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809453;
longitude = -122.012699;
duration = 203;
initialDepth = 351.050037;
finalDepth = 343.888250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  343.88825 
#   Seafloor depth:           -393.888250
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 106.985188 meters
#   Minimum depth: 401.050037 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.735991 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 351.050037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808913;
longitude = -122.013617;
duration = 213;
initialDepth = 355.678298;
finalDepth = 351.050037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  351.050037 
#   Seafloor depth:           -401.050037
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 107.397744 meters
#   Minimum depth: 405.678298 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.828813 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 355.678298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808343;
longitude = -122.014585;
duration = 214;
initialDepth = 332.292417;
finalDepth = 355.678298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  355.678298 
#   Seafloor depth:           -405.678298
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
# 
# 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 107.532658 meters
#   Minimum depth: 382.292417 meters looking forward 100.000000 meters along route
#   Maximum depth: 411.253601 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 332.292417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807771;
longitude = -122.015556;
duration = 215;
# abortOnTimeout    = True; 
initialDepth = 304.256868;
finalDepth = 332.292417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.961184
#   Actual altitude:          78.961184
#   Commanded vehicle depth:  332.292417 
#   Seafloor depth:           -411.253601
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.69;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.111650 meters
#   Minimum depth: 354.256868 meters looking forward 100.000000 meters along route
#   Maximum depth: 379.863845 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 304.256868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808642;
longitude = -122.016084;
duration = 200;
initialDepth = 256.828498;
finalDepth = 304.256868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.961184
#   Actual altitude:          78.961184
#   Commanded vehicle depth:  304.256868 
#   Seafloor depth:           -379.863845
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.69;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.111448 meters
#   Minimum depth: 306.828498 meters looking forward 100.000000 meters along route
#   Maximum depth: 351.287137 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 256.828498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809453;
longitude = -122.016576;
duration = 200;
initialDepth = 210.128572;
finalDepth = 256.828498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.4586389999999
#   Actual altitude:          94.4586389999999
#   Commanded vehicle depth:  256.828498 
#   Seafloor depth:           -351.287137
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.34;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.111248 meters
#   Minimum depth: 260.128572 meters looking forward 100.000000 meters along route
#   Maximum depth: 304.018878 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 210.128572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810264;
longitude = -122.017068;
duration = 200;
initialDepth = 156.179919;
finalDepth = 210.128572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.4586389999999
#   Actual altitude:          94.4586389999999
#   Commanded vehicle depth:  210.128572 
#   Seafloor depth:           -304.018878
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.34;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.111045 meters
#   Minimum depth: 206.179919 meters looking forward 100.000000 meters along route
#   Maximum depth: 258.061988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 156.179919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811076;
longitude = -122.017560;
duration = 200;
initialDepth = 107.195272;
finalDepth = 156.179919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       101.882069
#   Actual altitude:          100
#   Commanded vehicle depth:  156.179919 
#   Seafloor depth:           -258.061988
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.110844 meters
#   Minimum depth: 157.195272 meters looking forward 100.000000 meters along route
#   Maximum depth: 197.773317 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 107.195272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811887;
longitude = -122.018052;
duration = 200;
initialDepth = 66.926394;
finalDepth = 107.195272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       101.882069
#   Actual altitude:          100
#   Commanded vehicle depth:  107.195272 
#   Seafloor depth:           -197.773317
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.110643 meters
#   Minimum depth: 116.926394 meters looking forward 100.000000 meters along route
#   Maximum depth: 152.886800 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.926394 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812698;
longitude = -122.018543;
duration = 200;
initialDepth = 45.416869;
finalDepth = 66.926394;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.578045
#   Actual altitude:          90.578045
#   Commanded vehicle depth:  66.926394 
#   Seafloor depth:           -152.886800
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.17;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.110441 meters
#   Minimum depth: 95.416869 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.806634 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.416869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813509;
longitude = -122.019035;
duration = 200;
initialDepth = 42.278697;
finalDepth = 45.416869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.960406
#   Actual altitude:          85.960406
#   Commanded vehicle depth:  45.416869 
#   Seafloor depth:           -111.806634
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.79;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 103.791207 meters
#   Minimum depth: 92.278697 meters looking forward 100.000000 meters along route
#   Maximum depth: 95.293253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.278697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814320;
longitude = -122.019527;
duration = 207;
initialDepth = 42.088001;
finalDepth = 42.278697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       66.389765
#   Actual altitude:          66.389765
#   Commanded vehicle depth:  42.278697 
#   Seafloor depth:           -95.293253
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.92;
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;
}
# 
#######################################################
# 
# 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 140.090054 meters
#   Minimum depth: 92.088001 meters looking forward 100.000000 meters along route
#   Maximum depth: 93.741407 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.088001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815161;
longitude = -122.020037;
duration = 280;
# abortOnTimeout    = True; 
initialDepth = 41.948207;
finalDepth = 42.088001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.014556
#   Actual altitude:          53.014556
#   Commanded vehicle depth:  42.088001 
#   Seafloor depth:           -92.179632
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.90;
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.043343 meters
#   Minimum depth: 91.948207 meters looking forward 100.000000 meters along route
#   Maximum depth: 93.827388 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.948207 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816123;
longitude = -122.019019;
duration = 210;
initialDepth = 41.638475;
finalDepth = 41.948207;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.781074
#   Actual altitude:          51.781074
#   Commanded vehicle depth:  41.948207 
#   Seafloor depth:           -93.729281
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 109.482690 meters
#   Minimum depth: 91.638475 meters looking forward 100.000000 meters along route
#   Maximum depth: 91.904750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.638475 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816844;
longitude = -122.018256;
duration = 218;
initialDepth = 41.638475;
finalDepth = 41.638475;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.781074
#   Actual altitude:          51.781074
#   Commanded vehicle depth:  41.638475 
#   Seafloor depth:           -91.820983
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
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;
}
# 
#######################################################
# 
# 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:       50.298733
#   Sonar parameter altitude: 50.298733
#   Commanded vehicle depth:  41.638475 
#   Seafloor depth:           -91.937208
# 
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;
HiSS_Mode = 1;
HiSS_Power = 100.0;
HiSS_Range = 200;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.09;
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: 91.638475 meters looking forward 100.000000 meters along route
#   Maximum depth: 91.937208 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1426.494207 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.638475 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.817595;
longitude = -122.017460;
duration = 600;
depth = 41.638475;
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 = 40.000000;
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 = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
