# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <tharp> at <Thu Nov  5 15:09:09 PST 2015>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2258 2015-10-06 04:57:28Z caress r
# 
# Mission Summary:
#     Route File:               2015_RockfishHabitat_2v2.rte
#     Mission File:             2015_RockfishHabitat_2v2.cfg
#     Distance:                 88132.381850 (m)
#     Estimated Time:           59788 (s)  16.608 (hr)
#     Abort Time:               66300 (s)
#     Max battery life:         68400 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               124
#     Route Points:             773
#     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:      1424.815206 (m)
#     Abort Vehicle Depth:        1444.815206 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   200 (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 -122.056223 36.797857 -111.917358 0.000000 3
#   1 -122.054057 36.793471 -135.594828 523.553623 1
#   2 -122.053758 36.789025 -205.375511 1017.549052 1
#   3 -122.054543 36.786592 -229.347575 1296.407180 1
#   4 -122.056074 36.777610 -404.280327 2302.174927 3
#   5 -122.071123 36.758834 -968.220779 4780.664973 1
#   6 -122.089944 36.751263 -1205.964874 6659.024565 1
#   7 -122.100027 36.742431 -1361.826233 7989.564822 3
#   8 -122.133823 36.731736 -1335.558075 11232.024863 3
#   9 -122.138305 36.740208 -1258.440735 12253.533810 3
#   10 -122.102455 36.752195 -1328.711639 15719.402712 3
#   11 -122.105741 36.758563 -1136.104126 16484.330659 3
#   12 -122.141666 36.746607 -1203.528595 19954.821174 3
#   13 -122.143832 36.751804 -1260.325684 20562.921639 3
#   14 -122.106525 36.764241 -1006.143295 24167.594695 3
#   15 -122.090841 36.752435 -1222.377563 26084.737259 3
#   16 -122.072542 36.759855 -995.900681 27913.914712 1
#   17 -122.057343 36.778661 -405.170914 30402.464835 3
#   18 -122.059472 36.781996 -402.089706 30818.375992 1
#   19 -122.063020 36.784459 -416.588669 31236.589064 1
#   20 -122.067837 36.791489 -401.059380 32127.089025 1
#   21 -122.070638 36.795274 -449.394936 32615.736993 1
#   22 -122.072580 36.798488 -415.536644 33012.163320 1
#   23 -122.078069 36.801282 -401.203156 33591.724031 1
#   24 -122.081393 36.803745 -399.534721 33994.960635 1
#   25 -122.083521 36.801673 -384.436867 34293.086416 3
#   26 -122.085874 36.801222 -406.616536 34508.888433 1
#   27 -122.088040 36.800651 -445.882487 34712.233210 1
#   28 -122.089048 36.798218 -383.093669 34996.778932 1
#   29 -122.090169 36.795965 -391.538127 35265.978844 1
#   30 -122.092036 36.793201 -391.108317 35614.927004 1
#   31 -122.095733 36.791669 -389.686320 35986.008724 1
#   32 -122.099878 36.791218 -400.071818 36359.226846 1
#   33 -122.104621 36.789566 -399.053996 36820.392976 1
#   34 -122.104845 36.791008 -368.473958 36981.608479 1
#   35 -122.100214 36.792750 -348.921672 37437.758218 1
#   36 -122.095994 36.793261 -342.871012 37818.508433 1
#   37 -122.093417 36.794433 -349.753418 38082.609259 1
#   38 -122.091737 36.796866 -331.193705 38391.403721 1
#   39 -122.090729 36.798669 -307.767334 38610.671048 1
#   40 -122.089235 36.801673 -385.813192 38969.602419 1
#   41 -122.086210 36.802574 -331.365662 39257.385951 1
#   42 -122.084306 36.803295 -293.426254 39445.151439 3
#   43 -122.081617 36.805638 -322.819763 39798.859550 1
#   44 -122.077024 36.802754 -305.292030 40318.723693 1
#   45 -122.071198 36.799780 -320.629112 40934.361646 1
#   46 -122.068546 36.796055 -373.464752 41410.551225 1
#   47 -122.066156 36.792570 -311.105423 41852.081366 1
#   48 -122.061227 36.785721 -305.484085 42730.009907 1
#   49 -122.058128 36.783528 -313.092468 43098.333084 1
#   50 -122.055177 36.779502 -346.998077 43616.826528 3
#   51 -122.054953 36.782026 -305.795334 43897.548834 3
#   52 -122.057007 36.784429 -258.797249 44221.066284 1
#   53 -122.059659 36.786712 -240.153835 44567.691185 1
#   54 -122.064401 36.793351 -226.471539 45417.100247 1
#   55 -122.066829 36.796896 -287.323570 45866.095568 1
#   56 -122.069667 36.800922 -212.303627 46379.512730 1
#   57 -122.075791 36.803926 -170.785267 47019.475412 1
#   58 -122.082102 36.807771 -226.599033 47725.819164 1
#   59 -122.085127 36.804617 -225.809925 48167.693667 3
#   60 -122.086696 36.803715 -248.957336 48339.696310 1
#   61 -122.089795 36.802934 -331.342000 48629.471282 1
#   62 -122.092297 36.799570 -242.558675 49064.390393 1
#   63 -122.093156 36.797617 -276.970093 49294.172644 1
#   64 -122.094500 36.795544 -307.595500 49553.533377 1
#   65 -122.096442 36.794703 -330.400350 49750.322716 1
#   66 -122.100438 36.794102 -318.963338 50113.013241 1
#   67 -122.105143 36.792480 -341.533813 50569.785891 1
#   68 -122.105480 36.794102 -309.101522 50752.234668 1
#   69 -122.100774 36.795544 -289.004761 51201.497030 1
#   70 -122.097002 36.796145 -308.850749 51544.550130 1
#   71 -122.094949 36.798158 -255.927002 51833.409615 1
#   72 -122.093828 36.800050 -224.451213 52065.948907 1
#   73 -122.090729 36.804436 -234.032654 52625.612978 1
#   74 -122.086770 36.805097 -197.411560 52986.278529 1
#   75 -122.085463 36.806149 -197.883041 53151.238131 3
#   76 -122.082177 36.809513 -137.782558 53625.794895 1
#   77 -122.074783 36.805278 -130.136513 54435.614809 1
#   78 -122.068098 36.802003 -148.311455 55133.952799 1
#   79 -122.065036 36.797617 -180.477192 55691.972681 1
#   80 -122.062571 36.794012 -182.732651 56148.390452 1
#   81 -122.058128 36.787583 -215.135353 56964.388635 1
#   82 -122.054841 36.784639 -263.109306 57403.364013 3
#   83 -122.054318 36.786682 -232.472752 57634.767213 3
#   84 -122.056783 36.788575 -204.511467 57938.877043 1
#   85 -122.060928 36.794703 -158.530758 58712.800442 1
#   86 -122.063356 36.798158 -150.959305 59153.075158 1
#   87 -122.066717 36.803295 -123.281477 59797.039979 1
#   88 -122.073439 36.806539 -114.930700 60496.414786 1
#   89 -122.082625 36.811316 -114.902121 61472.293593 1
#   90 -122.086210 36.807531 -139.490133 62000.142082 3
#   91 -122.087442 36.806629 -154.904816 62148.742713 1
#   92 -122.091364 36.805818 -174.879211 62509.927485 1
#   93 -122.095061 36.800591 -209.041606 63177.057658 1
#   94 -122.096106 36.798849 -241.462158 63391.689698 1
#   95 -122.097525 36.797347 -274.838216 63600.966973 1
#   96 -122.099094 36.796716 -285.753825 63757.427939 1
#   97 -122.098011 36.790377 -522.886719 64467.242762 1
#   98 -122.099766 36.789957 -457.647176 64630.653286 1
#   99 -122.103164 36.788755 -434.311361 64961.886141 1
#   100 -122.104509 36.795514 -283.590007 65721.284258 1
#   101 -122.100998 36.796626 -270.855672 66057.876713 1
#   102 -122.098422 36.798158 -251.702189 66343.778761 1
#   103 -122.097189 36.799420 -225.421427 66521.770947 1
#   104 -122.096181 36.801312 -192.122375 66750.191827 1
#   105 -122.092409 36.807050 -138.684672 67470.205313 1
#   106 -122.088003 36.807801 -144.279073 67872.036123 1
#   107 -122.086882 36.809333 -123.968513 68069.205420 3
#   108 -122.083223 36.813269 -111.911861 68614.366077 1
#   109 -122.072094 36.807891 -101.652431 69772.604521 1
#   110 -122.065484 36.804737 -107.962296 70458.273811 1
#   111 -122.061115 36.798879 -127.706966 71216.080736 1
#   112 -122.059024 36.795424 -145.699001 71642.365398 1
#   113 -122.055513 36.789866 -185.969231 72333.980708 3
#   114 -122.055850 36.793652 -140.383514 72755.070942 1
#   115 -122.053721 36.799510 -103.699667 73432.143453 1
#   116 -122.048680 36.804466 -102.169792 74142.462125 1
#   117 -122.040987 36.808312 -99.465866 74950.570155 1
#   118 -122.013091 36.818045 -102.019798 82841.101525 3
#   119 -122.014099 36.819307 -97.841736 83007.492407 3
#   120 -122.041883 36.809574 -97.501506 85710.838694 1
#   121 -122.049949 36.805518 -99.631185 86559.495701 1
#   122 -122.055289 36.800411 -103.334188 87299.746373 1
#   123 -122.058128 36.793261 -158.563822 88132.381850 4
# 
# A total of 773 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 61200;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 1424.815206;
abortDepth = 1444.815206;
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 123
#   Segment length 101.455895 meters
#   Minimum depth: 150.430592 meters looking forward 200.000000 meters along route
#   Maximum depth: 158.563822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 100.430592 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793261;
longitude = -122.058128;
duration = 202;
# abortOnTimeout    = True; 
initialDepth = 85.017872;
finalDepth = 100.430592;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.13323
#   Actual altitude:          58.13323
#   Commanded vehicle depth:  100.430592 
#   Seafloor depth:           -158.563822
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.44;
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 123
#   Segment length 104.954283 meters
#   Minimum depth: 135.017872 meters looking forward 200.000000 meters along route
#   Maximum depth: 157.847364 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 85.017872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794132;
longitude = -122.057782;
duration = 209;
initialDepth = 75.850995;
finalDepth = 85.017872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.703354
#   Actual altitude:          63.703354
#   Commanded vehicle depth:  85.017872 
#   Seafloor depth:           -148.721226
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 123
#   Segment length 104.954190 meters
#   Minimum depth: 125.850995 meters looking forward 200.000000 meters along route
#   Maximum depth: 147.563629 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 75.850995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795034;
longitude = -122.057424;
duration = 209;
initialDepth = 69.610358;
finalDepth = 75.850995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.703354
#   Actual altitude:          63.703354
#   Commanded vehicle depth:  75.850995 
#   Seafloor depth:           -133.124793
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 123
#   Segment length 104.954098 meters
#   Minimum depth: 119.610358 meters looking forward 200.000000 meters along route
#   Maximum depth: 132.035290 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.610358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795935;
longitude = -122.057066;
duration = 209;
initialDepth = 62.929213;
finalDepth = 69.610358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.273798
#   Actual altitude:          57.273798
#   Commanded vehicle depth:  69.610358 
#   Seafloor depth:           -125.100210
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 123
#   Segment length 104.954006 meters
#   Minimum depth: 112.929213 meters looking forward 200.000000 meters along route
#   Maximum depth: 124.189547 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.929213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796836;
longitude = -122.056708;
duration = 209;
initialDepth = 57.319891;
finalDepth = 62.929213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.423791
#   Actual altitude:          56.423791
#   Commanded vehicle depth:  62.929213 
#   Seafloor depth:           -119.353004
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.93;
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 123
#   Segment length 104.953913 meters
#   Minimum depth: 107.319891 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.721010 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.319891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797737;
longitude = -122.056351;
duration = 209;
initialDepth = 54.046732;
finalDepth = 57.319891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.423791
#   Actual altitude:          56.423791
#   Commanded vehicle depth:  57.319891 
#   Seafloor depth:           -112.342690
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.93;
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 123
#   Segment length 104.953820 meters
#   Minimum depth: 104.046732 meters looking forward 200.000000 meters along route
#   Maximum depth: 112.318636 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 54.046732 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798638;
longitude = -122.055993;
duration = 209;
initialDepth = 53.264481;
finalDepth = 54.046732;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.022799
#   Actual altitude:          55.022799
#   Commanded vehicle depth:  54.046732 
#   Seafloor depth:           -106.689562
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 123
#   Segment length 101.455272 meters
#   Minimum depth: 103.264481 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.915925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.264481 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799540;
longitude = -122.055635;
duration = 202;
initialDepth = 52.661177;
finalDepth = 53.264481;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.64283
#   Actual altitude:          52.64283
#   Commanded vehicle depth:  53.264481 
#   Seafloor depth:           -103.968898
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 to get to end of line 122
#   Segment length 108.861601 meters
#   Minimum depth: 102.661177 meters looking forward 200.000000 meters along route
#   Maximum depth: 104.164659 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.661177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800411;
longitude = -122.055289;
duration = 217;
# abortOnTimeout    = True; 
initialDepth = 52.117187;
finalDepth = 52.661177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.704417
#   Actual altitude:          50.704417
#   Commanded vehicle depth:  52.661177 
#   Seafloor depth:           -103.334188
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
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 122
#   Segment length 104.506745 meters
#   Minimum depth: 102.117187 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.370628 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.117187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801162;
longitude = -122.054504;
duration = 209;
initialDepth = 50.141384;
finalDepth = 52.117187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.687202
#   Actual altitude:          50.687202
#   Commanded vehicle depth:  52.117187 
#   Seafloor depth:           -102.804389
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
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 122
#   Segment length 104.506361 meters
#   Minimum depth: 100.141384 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.036178 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.141384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801883;
longitude = -122.053750;
duration = 209;
initialDepth = 49.229245;
finalDepth = 50.141384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.31962
#   Actual altitude:          52.31962
#   Commanded vehicle depth:  50.141384 
#   Seafloor depth:           -102.461004
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 122
#   Segment length 106.607055 meters
#   Minimum depth: 99.229245 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.175885 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.229245 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802604;
longitude = -122.052996;
duration = 213;
initialDepth = 48.637250;
finalDepth = 49.229245;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.31962
#   Actual altitude:          52.31962
#   Commanded vehicle depth:  49.229245 
#   Seafloor depth:           -100.551551
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 122
#   Segment length 102.404515 meters
#   Minimum depth: 98.637250 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.362959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.637250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803339;
longitude = -122.052227;
duration = 204;
initialDepth = 48.637250;
finalDepth = 48.637250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.322306
#   Actual altitude:          51.322306
#   Commanded vehicle depth:  48.63725 
#   Seafloor depth:           -99.195331
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 122
#   Segment length 104.505210 meters
#   Minimum depth: 98.637250 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.384663 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.637250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804046;
longitude = -122.051488;
duration = 209;
initialDepth = 48.564479;
finalDepth = 48.637250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7312
#   Actual altitude:          51.7312
#   Commanded vehicle depth:  48.63725 
#   Seafloor depth:           -100.368450
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
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 122
#   Segment length 108.859185 meters
#   Minimum depth: 98.564479 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.365388 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.564479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804767;
longitude = -122.050735;
duration = 217;
initialDepth = 48.564479;
finalDepth = 48.564479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.7312
#   Actual altitude:          51.7312
#   Commanded vehicle depth:  48.564479 
#   Seafloor depth:           -99.229370
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
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 to get to end of line 121
#   Segment length 113.941848 meters
#   Minimum depth: 98.564479 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.000275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.564479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805518;
longitude = -122.049949;
duration = 227;
# abortOnTimeout    = True; 
initialDepth = 49.651004;
finalDepth = 48.564479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.066706
#   Actual altitude:          51.066706
#   Commanded vehicle depth:  48.564479 
#   Seafloor depth:           -99.631185
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 106.083291 meters
#   Minimum depth: 99.651004 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.297045 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.651004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806062;
longitude = -122.048866;
duration = 212;
initialDepth = 49.185803;
finalDepth = 49.651004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.066706
#   Actual altitude:          51.066706
#   Commanded vehicle depth:  49.651004 
#   Seafloor depth:           -99.651004
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 106.082811 meters
#   Minimum depth: 99.185803 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.072599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.185803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806569;
longitude = -122.047858;
duration = 212;
initialDepth = 49.185803;
finalDepth = 49.185803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.310695
#   Actual altitude:          52.310695
#   Commanded vehicle depth:  49.185803 
#   Seafloor depth:           -101.496498
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 121
#   Segment length 106.082330 meters
#   Minimum depth: 99.185803 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.072599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.185803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807076;
longitude = -122.046850;
duration = 212;
initialDepth = 47.570464;
finalDepth = 49.185803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.310695
#   Actual altitude:          52.310695
#   Commanded vehicle depth:  49.185803 
#   Seafloor depth:           -99.965082
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 121
#   Segment length 108.439219 meters
#   Minimum depth: 97.570464 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.243224 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.570464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807583;
longitude = -122.045841;
duration = 216;
initialDepth = 47.544421;
finalDepth = 47.570464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.51126
#   Actual altitude:          52.51126
#   Commanded vehicle depth:  47.570464 
#   Seafloor depth:           -100.081724
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
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 121
#   Segment length 103.724001 meters
#   Minimum depth: 97.544421 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.839622 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.544421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808101;
longitude = -122.044811;
duration = 207;
initialDepth = 47.656921;
finalDepth = 47.544421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.51126
#   Actual altitude:          52.51126
#   Commanded vehicle depth:  47.544421 
#   Seafloor depth:           -97.544421
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
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 121
#   Segment length 103.723541 meters
#   Minimum depth: 97.656921 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.437300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.656921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808597;
longitude = -122.043825;
duration = 207;
initialDepth = 47.573768;
finalDepth = 47.656921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.320931
#   Actual altitude:          51.320931
#   Commanded vehicle depth:  47.656921 
#   Seafloor depth:           -98.977852
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 121
#   Segment length 100.579966 meters
#   Minimum depth: 97.573768 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.837642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.573768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809093;
longitude = -122.042839;
duration = 201;
initialDepth = 47.304384;
finalDepth = 47.573768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.320931
#   Actual altitude:          51.320931
#   Commanded vehicle depth:  47.573768 
#   Seafloor depth:           -98.586909
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 91.784748 meters
#   Minimum depth: 97.304384 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.758313 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.304384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809574;
longitude = -122.041883;
duration = 183;
# abortOnTimeout    = True; 
initialDepth = 47.304384;
finalDepth = 47.304384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.013141
#   Actual altitude:          51.013141
#   Commanded vehicle depth:  47.304384 
#   Seafloor depth:           -97.501506
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.128457 meters
#   Minimum depth: 97.304384 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.838049 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.304384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809904;
longitude = -122.040940;
duration = 200;
initialDepth = 46.409357;
finalDepth = 47.304384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.264097
#   Actual altitude:          51.264097
#   Commanded vehicle depth:  47.304384 
#   Seafloor depth:           -98.568481
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
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 120
#   Segment length 100.128083 meters
#   Minimum depth: 96.409357 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.838049 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.409357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810264;
longitude = -122.039911;
duration = 200;
initialDepth = 46.219631;
finalDepth = 46.409357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.687185
#   Actual altitude:          51.687185
#   Commanded vehicle depth:  46.409357 
#   Seafloor depth:           -98.096542
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
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 120
#   Segment length 100.127709 meters
#   Minimum depth: 96.219631 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.239792 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.219631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810625;
longitude = -122.038882;
duration = 200;
initialDepth = 46.219631;
finalDepth = 46.219631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.687185
#   Actual altitude:          51.687185
#   Commanded vehicle depth:  46.219631 
#   Seafloor depth:           -96.399268
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
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 120
#   Segment length 100.127334 meters
#   Minimum depth: 96.219631 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.314542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.219631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810985;
longitude = -122.037853;
duration = 200;
initialDepth = 45.784925;
finalDepth = 46.219631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.876303
#   Actual altitude:          50.876303
#   Commanded vehicle depth:  46.219631 
#   Seafloor depth:           -97.095934
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.126961 meters
#   Minimum depth: 95.784925 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.314542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.784925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811346;
longitude = -122.036824;
duration = 200;
initialDepth = 45.627099;
finalDepth = 45.784925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.255884
#   Actual altitude:          51.255884
#   Commanded vehicle depth:  45.784925 
#   Seafloor depth:           -97.040809
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
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 120
#   Segment length 100.126586 meters
#   Minimum depth: 95.627099 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.931611 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.627099 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811706;
longitude = -122.035795;
duration = 200;
initialDepth = 45.627099;
finalDepth = 45.627099;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.255884
#   Actual altitude:          51.255884
#   Commanded vehicle depth:  45.627099 
#   Seafloor depth:           -95.796073
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
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 120
#   Segment length 100.126212 meters
#   Minimum depth: 95.627099 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.728306 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.627099 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812067;
longitude = -122.034766;
duration = 200;
initialDepth = 45.163594;
finalDepth = 45.627099;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.767524
#   Actual altitude:          50.767524
#   Commanded vehicle depth:  45.627099 
#   Seafloor depth:           -96.394623
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.125837 meters
#   Minimum depth: 95.163594 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.805945 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.163594 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812427;
longitude = -122.033736;
duration = 200;
initialDepth = 44.948161;
finalDepth = 45.163594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.108616
#   Actual altitude:          51.108616
#   Commanded vehicle depth:  45.163594 
#   Seafloor depth:           -96.272210
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.125464 meters
#   Minimum depth: 94.948161 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.805945 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.948161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812788;
longitude = -122.032707;
duration = 200;
initialDepth = 44.948161;
finalDepth = 44.948161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.108616
#   Actual altitude:          51.108616
#   Commanded vehicle depth:  44.948161 
#   Seafloor depth:           -95.153821
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.125089 meters
#   Minimum depth: 94.948161 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.400540 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.948161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813148;
longitude = -122.031678;
duration = 200;
initialDepth = 44.663814;
finalDepth = 44.948161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.14044
#   Actual altitude:          51.14044
#   Commanded vehicle depth:  44.948161 
#   Seafloor depth:           -96.088601
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.124716 meters
#   Minimum depth: 94.663814 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.400540 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.663814 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813509;
longitude = -122.030649;
duration = 200;
initialDepth = 44.663814;
finalDepth = 44.663814;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.14044
#   Actual altitude:          51.14044
#   Commanded vehicle depth:  44.663814 
#   Seafloor depth:           -95.039700
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.124341 meters
#   Minimum depth: 94.663814 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.158042 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.663814 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813869;
longitude = -122.029620;
duration = 200;
initialDepth = 44.665676;
finalDepth = 44.663814;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.460668
#   Actual altitude:          50.460668
#   Commanded vehicle depth:  44.663814 
#   Seafloor depth:           -95.124482
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.123967 meters
#   Minimum depth: 94.665676 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.158042 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.665676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814230;
longitude = -122.028591;
duration = 200;
initialDepth = 43.902224;
finalDepth = 44.665676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.460668
#   Actual altitude:          50.460668
#   Commanded vehicle depth:  44.665676 
#   Seafloor depth:           -94.948502
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.123593 meters
#   Minimum depth: 93.902224 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.039291 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 43.902224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814590;
longitude = -122.027562;
duration = 200;
initialDepth = 42.487757;
finalDepth = 43.902224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.747812
#   Actual altitude:          50.747812
#   Commanded vehicle depth:  43.902224 
#   Seafloor depth:           -94.650036
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.123219 meters
#   Minimum depth: 92.487757 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.719005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.487757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814951;
longitude = -122.026533;
duration = 200;
initialDepth = 42.152204;
finalDepth = 42.487757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.562836
#   Actual altitude:          51.562836
#   Commanded vehicle depth:  42.487757 
#   Seafloor depth:           -94.050593
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.122846 meters
#   Minimum depth: 92.152204 meters looking forward 200.000000 meters along route
#   Maximum depth: 93.911564 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.152204 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815311;
longitude = -122.025504;
duration = 200;
initialDepth = 41.648671;
finalDepth = 42.152204;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.562836
#   Actual altitude:          51.562836
#   Commanded vehicle depth:  42.152204 
#   Seafloor depth:           -92.370412
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.122471 meters
#   Minimum depth: 91.648671 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.761233 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.648671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815672;
longitude = -122.024475;
duration = 200;
initialDepth = 41.211763;
finalDepth = 41.648671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.275796
#   Actual altitude:          50.275796
#   Commanded vehicle depth:  41.648671 
#   Seafloor depth:           -91.924467
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.122097 meters
#   Minimum depth: 91.211763 meters looking forward 200.000000 meters along route
#   Maximum depth: 91.906524 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.211763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816032;
longitude = -122.023446;
duration = 200;
initialDepth = 41.211763;
finalDepth = 41.211763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.515749
#   Actual altitude:          50.515749
#   Commanded vehicle depth:  41.211763 
#   Seafloor depth:           -91.727512
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.121723 meters
#   Minimum depth: 91.211763 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.275999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.211763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816393;
longitude = -122.022417;
duration = 200;
initialDepth = 41.629378;
finalDepth = 41.211763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.515749
#   Actual altitude:          50.515749
#   Commanded vehicle depth:  41.211763 
#   Seafloor depth:           -91.384421
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.121349 meters
#   Minimum depth: 91.629378 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.460968 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.629378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816753;
longitude = -122.021388;
duration = 200;
initialDepth = 42.066064;
finalDepth = 41.629378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.613403
#   Actual altitude:          50.613403
#   Commanded vehicle depth:  41.629378 
#   Seafloor depth:           -92.242781
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.120975 meters
#   Minimum depth: 92.066064 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.945279 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.066064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817114;
longitude = -122.020359;
duration = 200;
initialDepth = 41.907377;
finalDepth = 42.066064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.613403
#   Actual altitude:          50.613403
#   Commanded vehicle depth:  42.066064 
#   Seafloor depth:           -92.553464
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.120601 meters
#   Minimum depth: 91.907377 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.945279 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.907377 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817474;
longitude = -122.019330;
duration = 200;
initialDepth = 41.802943;
finalDepth = 41.907377;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4874
#   Actual altitude:          50.4874
#   Commanded vehicle depth:  41.907377 
#   Seafloor depth:           -92.264346
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.120228 meters
#   Minimum depth: 91.802943 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.277154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.802943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817835;
longitude = -122.018301;
duration = 200;
initialDepth = 41.530344;
finalDepth = 41.802943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.356969
#   Actual altitude:          50.356969
#   Commanded vehicle depth:  41.802943 
#   Seafloor depth:           -91.905405
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 100.119853 meters
#   Minimum depth: 91.530344 meters looking forward 200.000000 meters along route
#   Maximum depth: 91.940672 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.530344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818195;
longitude = -122.017272;
duration = 200;
initialDepth = 41.530344;
finalDepth = 41.530344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.296497
#   Actual altitude:          50.296497
#   Commanded vehicle depth:  41.530344 
#   Seafloor depth:           -91.826841
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 106.847926 meters
#   Minimum depth: 91.530344 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.837077 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.530344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818556;
longitude = -122.016243;
duration = 213;
initialDepth = 42.483067;
finalDepth = 41.530344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.296497
#   Actual altitude:          50.296497
#   Commanded vehicle depth:  41.530344 
#   Seafloor depth:           -91.654264
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 120
#   Segment length 101.733902 meters
#   Minimum depth: 92.483067 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.790705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.483067 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818941;
longitude = -122.015145;
duration = 203;
initialDepth = 47.388953;
finalDepth = 42.483067;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.510763
#   Actual altitude:          53.510763
#   Commanded vehicle depth:  42.483067 
#   Seafloor depth:           -95.993830
# 
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 = 16.05;
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 119
#   Segment length 166.390882 meters
#   Minimum depth: 97.388953 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.603507 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.388953 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.819307;
longitude = -122.014099;
duration = 332;
# abortOnTimeout    = True; 
initialDepth = 49.106190;
finalDepth = 47.388953;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.510763
#   Actual altitude:          53.510763
#   Commanded vehicle depth:  47.388953 
#   Seafloor depth:           -97.841736
# 
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 = 16.05;
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 118
#   Segment length 108.783358 meters
#   Minimum depth: 99.106190 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.019798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.106190 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 = 217;
# abortOnTimeout    = True; 
initialDepth = 42.742032;
finalDepth = 49.106190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.913608
#   Actual altitude:          52.913608
#   Commanded vehicle depth:  49.10619 
#   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 = 15.87;
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 118
#   Segment length 100.464251 meters
#   Minimum depth: 92.742032 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.116981 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.742032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817655;
longitude = -122.014210;
duration = 200;
initialDepth = 41.821506;
finalDepth = 42.742032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.245728
#   Actual altitude:          56.245728
#   Commanded vehicle depth:  42.742032 
#   Seafloor depth:           -98.987760
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 118
#   Segment length 100.464626 meters
#   Minimum depth: 91.821506 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.897351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.821506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817294;
longitude = -122.015243;
duration = 200;
initialDepth = 41.815051;
finalDepth = 41.821506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.245728
#   Actual altitude:          56.245728
#   Commanded vehicle depth:  41.821506 
#   Seafloor depth:           -92.522600
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 118
#   Segment length 100.465002 meters
#   Minimum depth: 91.815051 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.802081 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.816934;
longitude = -122.016276;
duration = 200;
initialDepth = 41.815051;
finalDepth = 41.815051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.701094
#   Actual altitude:          50.701094
#   Commanded vehicle depth:  41.815051 
#   Seafloor depth:           -91.980627
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
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 118
#   Segment length 100.465378 meters
#   Minimum depth: 91.815051 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.126088 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.816573;
longitude = -122.017309;
duration = 200;
initialDepth = 41.871424;
finalDepth = 41.815051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.268441
#   Actual altitude:          50.268441
#   Commanded vehicle depth:  41.815051 
#   Seafloor depth:           -92.083492
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.465753 meters
#   Minimum depth: 91.871424 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.396766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.816213;
longitude = -122.018343;
duration = 200;
initialDepth = 41.837518;
finalDepth = 41.871424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.309519
#   Actual altitude:          52.309519
#   Commanded vehicle depth:  41.871424 
#   Seafloor depth:           -94.180943
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.574858 meters
#   Minimum depth: 91.837518 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.396766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.815852;
longitude = -122.019376;
duration = 201;
initialDepth = 41.645159;
finalDepth = 41.837518;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.309519
#   Actual altitude:          52.309519
#   Commanded vehicle depth:  41.837518 
#   Seafloor depth:           -93.044020
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.357776 meters
#   Minimum depth: 91.645159 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.952443 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.815491;
longitude = -122.020410;
duration = 200;
initialDepth = 41.645159;
finalDepth = 41.645159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.206502
#   Actual altitude:          51.206502
#   Commanded vehicle depth:  41.645159 
#   Seafloor depth:           -91.950304
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
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 118
#   Segment length 100.466880 meters
#   Minimum depth: 91.645159 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.436825 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.815131;
longitude = -122.021442;
duration = 200;
initialDepth = 41.824859;
finalDepth = 41.645159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.382997
#   Actual altitude:          50.382997
#   Commanded vehicle depth:  41.645159 
#   Seafloor depth:           -92.028156
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.467256 meters
#   Minimum depth: 91.824859 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.882364 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.814771;
longitude = -122.022476;
duration = 200;
initialDepth = 41.824859;
finalDepth = 41.824859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.382997
#   Actual altitude:          50.382997
#   Commanded vehicle depth:  41.824859 
#   Seafloor depth:           -92.020796
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.467632 meters
#   Minimum depth: 91.824859 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.938564 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.814410;
longitude = -122.023509;
duration = 200;
initialDepth = 41.906806;
finalDepth = 41.824859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.113705
#   Actual altitude:          51.113705
#   Commanded vehicle depth:  41.824859 
#   Seafloor depth:           -92.938564
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.468007 meters
#   Minimum depth: 91.906806 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.787075 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.814050;
longitude = -122.024542;
duration = 200;
initialDepth = 42.701156;
finalDepth = 41.906806;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.113705
#   Actual altitude:          51.113705
#   Commanded vehicle depth:  41.906806 
#   Seafloor depth:           -92.661487
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.468383 meters
#   Minimum depth: 92.701156 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.916638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.701156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813689;
longitude = -122.025575;
duration = 200;
initialDepth = 44.735788;
finalDepth = 42.701156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.085965
#   Actual altitude:          52.085965
#   Commanded vehicle depth:  42.701156 
#   Seafloor depth:           -94.787121
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
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 118
#   Segment length 100.468759 meters
#   Minimum depth: 94.735788 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.642138 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.735788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813329;
longitude = -122.026609;
duration = 200;
initialDepth = 46.132184;
finalDepth = 44.735788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.085965
#   Actual altitude:          52.085965
#   Commanded vehicle depth:  44.735788 
#   Seafloor depth:           -96.006545
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
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 118
#   Segment length 100.469135 meters
#   Minimum depth: 96.132184 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.960163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.132184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812968;
longitude = -122.027642;
duration = 200;
initialDepth = 46.821545;
finalDepth = 46.132184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.270757
#   Actual altitude:          51.270757
#   Commanded vehicle depth:  46.132184 
#   Seafloor depth:           -97.283895
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
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 118
#   Segment length 100.535786 meters
#   Minimum depth: 96.821545 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.960163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.812608;
longitude = -122.028675;
duration = 201;
initialDepth = 46.821545;
finalDepth = 46.821545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.151711
#   Actual altitude:          51.151711
#   Commanded vehicle depth:  46.821545 
#   Seafloor depth:           -97.558043
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.403610 meters
#   Minimum depth: 96.821545 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.402184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.812247;
longitude = -122.029709;
duration = 200;
initialDepth = 47.055589;
finalDepth = 46.821545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.736498
#   Actual altitude:          50.736498
#   Commanded vehicle depth:  46.821545 
#   Seafloor depth:           -96.969401
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.470262 meters
#   Minimum depth: 97.055589 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.585870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.055589 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811887;
longitude = -122.030741;
duration = 200;
initialDepth = 48.987300;
finalDepth = 47.055589;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.313696
#   Actual altitude:          52.313696
#   Commanded vehicle depth:  47.055589 
#   Seafloor depth:           -99.369285
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.470638 meters
#   Minimum depth: 98.987300 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.985983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.987300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811526;
longitude = -122.031775;
duration = 200;
initialDepth = 46.293154;
finalDepth = 48.987300;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.313696
#   Actual altitude:          52.313696
#   Commanded vehicle depth:  48.9873 
#   Seafloor depth:           -99.539802
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.471014 meters
#   Minimum depth: 96.293154 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.985983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.293154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811166;
longitude = -122.032808;
duration = 200;
initialDepth = 45.612186;
finalDepth = 46.293154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.699744
#   Actual altitude:          52.699744
#   Commanded vehicle depth:  46.293154 
#   Seafloor depth:           -98.992898
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.471389 meters
#   Minimum depth: 95.612186 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.950431 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.810805;
longitude = -122.033841;
duration = 200;
initialDepth = 45.612186;
finalDepth = 45.612186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.699744
#   Actual altitude:          52.699744
#   Commanded vehicle depth:  45.612186 
#   Seafloor depth:           -96.046837
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.471766 meters
#   Minimum depth: 95.612186 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.519822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.810445;
longitude = -122.034874;
duration = 200;
initialDepth = 46.797035;
finalDepth = 45.612186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.086457
#   Actual altitude:          51.086457
#   Commanded vehicle depth:  45.612186 
#   Seafloor depth:           -96.698643
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.472141 meters
#   Minimum depth: 96.797035 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.662454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.797035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810084;
longitude = -122.035908;
duration = 200;
initialDepth = 46.608756;
finalDepth = 46.797035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.086457
#   Actual altitude:          51.086457
#   Commanded vehicle depth:  46.797035 
#   Seafloor depth:           -97.547204
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.472517 meters
#   Minimum depth: 96.608756 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.042467 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.809724;
longitude = -122.036941;
duration = 200;
initialDepth = 46.608756;
finalDepth = 46.608756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.10896
#   Actual altitude:          51.10896
#   Commanded vehicle depth:  46.608756 
#   Seafloor depth:           -97.717716
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 100.496715 meters
#   Minimum depth: 96.608756 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.274808 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.809363;
longitude = -122.037974;
duration = 200;
initialDepth = 47.841736;
finalDepth = 46.608756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.10896
#   Actual altitude:          51.10896
#   Commanded vehicle depth:  46.608756 
#   Seafloor depth:           -97.235677
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 2550.164992 meters
#   Minimum depth: 97.841736 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.444799 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.841736 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809003;
longitude = -122.039008;
duration = 5100;
initialDepth = 47.841736;
finalDepth = 47.841736;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.626921
#   Actual altitude:          50.626921
#   Commanded vehicle depth:  47.841736 
#   Seafloor depth:           -98.274944
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 during line 118
#   Segment length 108.752406 meters
#   Minimum depth: 97.841736 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.531701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.841736 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818916;
longitude = -122.013787;
duration = 217;
initialDepth = 51.603507;
finalDepth = 47.841736;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.640241
#   Actual altitude:          50.640241
#   Commanded vehicle depth:  47.841736 
#   Seafloor depth:           -98.481977
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 during line 118
#   Segment length 2711.561080 meters
#   Minimum depth: 101.603507 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.603507 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.603507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818092;
longitude = -122.013128;
duration = 5423;
initialDepth = 49.465866;
finalDepth = 51.603507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.640241
#   Actual altitude:          50.640241
#   Commanded vehicle depth:  51.603507 
#   Seafloor depth:           -101.603507
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 117
#   Segment length 180.416344 meters
#   Minimum depth: 99.465866 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.879443 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       50
#   Actual altitude:          50
#   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 = 15.00;
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 109.985999 meters
#   Minimum depth: 98.489596 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.765060 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 48.489596;
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 117
#   Segment length 101.842391 meters
#   Minimum depth: 98.489596 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.826385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.806930;
longitude = -122.043752;
duration = 203;
initialDepth = 49.875767;
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:           -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 117
#   Segment length 106.459674 meters
#   Minimum depth: 99.875767 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.447514 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.875767 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 = 52.104171;
finalDepth = 49.875767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.130287
#   Actual altitude:          52.130287
#   Commanded vehicle depth:  49.875767 
#   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 = 15.64;
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 117
#   Segment length 105.370629 meters
#   Minimum depth: 102.104171 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.683283 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.104171 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 = 52.104171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.130287
#   Actual altitude:          52.130287
#   Commanded vehicle depth:  52.104171 
#   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 = 15.64;
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 117
#   Segment length 102.933286 meters
#   Minimum depth: 102.169916 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.840493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 117
#   Segment length 101.099707 meters
#   Minimum depth: 102.009191 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.840493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 116
#   Segment length 86.042252 meters
#   Minimum depth: 102.009191 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.937857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 52.009191;
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 116
#   Segment length 103.335513 meters
#   Minimum depth: 102.009191 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.937857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.803866;
longitude = -122.049291;
duration = 206;
initialDepth = 50.991911;
finalDepth = 52.009191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.785763
#   Actual altitude:          50.785763
#   Commanded vehicle depth:  52.009191 
#   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 = 15.24;
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 116
#   Segment length 105.232938 meters
#   Minimum depth: 100.991911 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.975382 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 116
#   Segment length 101.439188 meters
#   Minimum depth: 100.392353 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.975382 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 50.392353;
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 116
#   Segment length 103.781276 meters
#   Minimum depth: 100.392353 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.816848 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.801703;
longitude = -122.051491;
duration = 207;
initialDepth = 51.132086;
finalDepth = 50.392353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.509818
#   Actual altitude:          50.509818
#   Commanded vehicle depth:  50.392353 
#   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 116
#   Segment length 102.892318 meters
#   Minimum depth: 101.132086 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.475779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.132086 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 = 53.094835;
finalDepth = 51.132086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.688535
#   Actual altitude:          51.688535
#   Commanded vehicle depth:  51.132086 
#   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 = 15.51;
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 116
#   Segment length 107.595187 meters
#   Minimum depth: 103.094835 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.782058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.094835 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 = 53.655803;
finalDepth = 53.094835;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.688535
#   Actual altitude:          51.688535
#   Commanded vehicle depth:  53.094835 
#   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 = 15.51;
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 115
#   Segment length 152.815406 meters
#   Minimum depth: 103.655803 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.299685 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.655803 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 = 54.180477;
finalDepth = 53.655803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.341588
#   Actual altitude:          50.341588
#   Commanded vehicle depth:  53.655803 
#   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 = 15.10;
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 115
#   Segment length 104.166083 meters
#   Minimum depth: 104.180477 meters looking forward 200.000000 meters along route
#   Maximum depth: 110.225466 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 54.180477 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 = 57.037858;
finalDepth = 54.180477;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.452103
#   Actual altitude:          52.452103
#   Commanded vehicle depth:  54.180477 
#   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 = 15.74;
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 115
#   Segment length 104.166159 meters
#   Minimum depth: 107.037858 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.998595 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.037858 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 = 60.957550;
finalDepth = 57.037858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.626093
#   Actual altitude:          53.626093
#   Commanded vehicle depth:  57.037858 
#   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 = 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 115
#   Segment length 104.166234 meters
#   Minimum depth: 110.957550 meters looking forward 200.000000 meters along route
#   Maximum depth: 124.630639 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.957550 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 = 67.972453;
finalDepth = 60.957550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.864812
#   Actual altitude:          55.864812
#   Commanded vehicle depth:  60.95755 
#   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 = 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 115
#   Segment length 104.166309 meters
#   Minimum depth: 117.972453 meters looking forward 200.000000 meters along route
#   Maximum depth: 131.611765 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 67.972453 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 = 77.015254;
finalDepth = 67.972453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.404738
#   Actual altitude:          57.404738
#   Commanded vehicle depth:  67.972453 
#   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 = 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 115
#   Segment length 107.592320 meters
#   Minimum depth: 127.015254 meters looking forward 200.000000 meters along route
#   Maximum depth: 140.038221 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.015254 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 = 84.905471;
finalDepth = 77.015254;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.404738
#   Actual altitude:          57.404738
#   Commanded vehicle depth:  77.015254 
#   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 = 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 to get to end of line 114
#   Segment length 116.989713 meters
#   Minimum depth: 134.905471 meters looking forward 200.000000 meters along route
#   Maximum depth: 147.843303 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.905471 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 = 92.122786;
finalDepth = 84.905471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.57271
#   Actual altitude:          55.57271
#   Commanded vehicle depth:  84.905471 
#   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 = 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 114
#   Segment length 100.238716 meters
#   Minimum depth: 142.122786 meters looking forward 200.000000 meters along route
#   Maximum depth: 156.535744 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 92.122786 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 = 99.452592;
finalDepth = 92.122786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.68335
#   Actual altitude:          56.68335
#   Commanded vehicle depth:  92.122786 
#   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 = 17.01;
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 114
#   Segment length 100.238709 meters
#   Minimum depth: 149.452592 meters looking forward 200.000000 meters along route
#   Maximum depth: 168.443449 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 99.452592 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 = 109.384376;
finalDepth = 99.452592;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.371234
#   Actual altitude:          58.371234
#   Commanded vehicle depth:  99.452592 
#   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 = 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 114
#   Segment length 103.623096 meters
#   Minimum depth: 159.384376 meters looking forward 200.000000 meters along route
#   Maximum depth: 185.118314 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 109.384376 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 = 118.443449;
finalDepth = 109.384376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       60.160556
#   Actual altitude:          60.160556
#   Commanded vehicle depth:  109.384376 
#   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 = 18.05;
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 113
#   Segment length 82.289764 meters
#   Minimum depth: 168.443449 meters looking forward 200.000000 meters along route
#   Maximum depth: 185.969231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 118.443449 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 = 118.443449;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.525782
#   Actual altitude:          67.525782
#   Commanded vehicle depth:  118.443449 
#   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 = 20.26;
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 100.932600 meters
#   Minimum depth: 172.395578 meters looking forward 200.000000 meters along route
#   Maximum depth: 185.969231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       67.525782
#   Actual altitude:          67.525782
#   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 = 20.26;
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 100.932383 meters
#   Minimum depth: 165.891690 meters looking forward 200.000000 meters along route
#   Maximum depth: 175.800989 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 113
#   Segment length 100.932166 meters
#   Minimum depth: 160.500785 meters looking forward 200.000000 meters along route
#   Maximum depth: 171.179964 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 113
#   Segment length 100.931948 meters
#   Minimum depth: 154.439497 meters looking forward 200.000000 meters along route
#   Maximum depth: 164.931103 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 113
#   Segment length 102.571037 meters
#   Minimum depth: 150.211279 meters looking forward 200.000000 meters along route
#   Maximum depth: 159.446966 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 113
#   Segment length 103.025412 meters
#   Minimum depth: 146.071402 meters looking forward 200.000000 meters along route
#   Maximum depth: 153.571620 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 112
#   Segment length 118.615319 meters
#   Minimum depth: 142.445763 meters looking forward 200.000000 meters along route
#   Maximum depth: 149.079984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 112
#   Segment length 100.077276 meters
#   Minimum depth: 136.576969 meters looking forward 200.000000 meters along route
#   Maximum depth: 145.563801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 112
#   Segment length 100.077075 meters
#   Minimum depth: 132.440914 meters looking forward 200.000000 meters along route
#   Maximum depth: 141.786419 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 112
#   Segment length 107.514992 meters
#   Minimum depth: 127.898843 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.928110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 111
#   Segment length 132.106800 meters
#   Minimum depth: 122.057122 meters looking forward 200.000000 meters along route
#   Maximum depth: 130.965830 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 111
#   Segment length 104.928845 meters
#   Minimum depth: 120.768844 meters looking forward 200.000000 meters along route
#   Maximum depth: 126.257924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 111
#   Segment length 106.273693 meters
#   Minimum depth: 115.582072 meters looking forward 200.000000 meters along route
#   Maximum depth: 121.816961 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 111
#   Segment length 103.583113 meters
#   Minimum depth: 113.378214 meters looking forward 200.000000 meters along route
#   Maximum depth: 120.242941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 111
#   Segment length 104.927962 meters
#   Minimum depth: 112.084810 meters looking forward 200.000000 meters along route
#   Maximum depth: 115.260169 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 111
#   Segment length 104.927668 meters
#   Minimum depth: 110.059864 meters looking forward 200.000000 meters along route
#   Maximum depth: 113.751017 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 111
#   Segment length 101.058844 meters
#   Minimum depth: 107.892003 meters looking forward 200.000000 meters along route
#   Maximum depth: 112.184339 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 110
#   Segment length 163.244635 meters
#   Minimum depth: 107.202878 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.558664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 110
#   Segment length 100.202583 meters
#   Minimum depth: 106.926076 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.132385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 110
#   Segment length 104.591511 meters
#   Minimum depth: 106.803090 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.132385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 110
#   Segment length 108.689178 meters
#   Minimum depth: 101.611545 meters looking forward 200.000000 meters along route
#   Maximum depth: 107.526078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 110
#   Segment length 100.492342 meters
#   Minimum depth: 101.415944 meters looking forward 200.000000 meters along route
#   Maximum depth: 104.559422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 110
#   Segment length 108.449041 meters
#   Minimum depth: 101.294409 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.871235 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 51.294409;
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 109
#   Segment length 112.726449 meters
#   Minimum depth: 101.294409 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.263279 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.807891;
longitude = -122.072094;
duration = 225;
# abortOnTimeout    = True; 
initialDepth = 51.751214;
finalDepth = 51.294409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.358022
#   Actual altitude:          50.358022
#   Commanded vehicle depth:  51.294409 
#   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 = 15.11;
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 109
#   Segment length 107.299068 meters
#   Minimum depth: 101.751214 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.893980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.751214 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 = 52.190823;
finalDepth = 51.751214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.373303
#   Actual altitude:          50.373303
#   Commanded vehicle depth:  51.751214 
#   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 = 15.11;
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 109
#   Segment length 102.576408 meters
#   Minimum depth: 102.190823 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.247994 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.190823 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 = 52.190823;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.751484
#   Actual altitude:          50.751484
#   Commanded vehicle depth:  52.190823 
#   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 = 15.23;
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 109
#   Segment length 104.936980 meters
#   Minimum depth: 102.636134 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.247994 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 52.636134;
finalDepth = 52.636134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.751484
#   Actual altitude:          50.751484
#   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 = 15.23;
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 109
#   Segment length 104.936475 meters
#   Minimum depth: 102.636134 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.739353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.809876;
longitude = -122.076202;
duration = 209;
initialDepth = 52.851688;
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:           -102.780675
# 
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 109
#   Segment length 104.935969 meters
#   Minimum depth: 102.851688 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.002079 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.851688 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 = 53.825838;
finalDepth = 52.851688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.735784
#   Actual altitude:          50.735784
#   Commanded vehicle depth:  52.851688 
#   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 = 15.22;
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 109
#   Segment length 106.677531 meters
#   Minimum depth: 103.825838 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.422292 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.825838 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 = 55.087323;
finalDepth = 53.825838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.451254
#   Actual altitude:          51.451254
#   Commanded vehicle depth:  53.825838 
#   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 = 15.44;
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 109
#   Segment length 103.192890 meters
#   Minimum depth: 105.087323 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.700460 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.811346;
longitude = -122.079244;
duration = 206;
initialDepth = 56.953600;
finalDepth = 55.087323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.451254
#   Actual altitude:          51.451254
#   Commanded vehicle depth:  55.087323 
#   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 = 15.44;
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 109
#   Segment length 104.934453 meters
#   Minimum depth: 106.953600 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.027445 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.953600 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 = 58.812877;
finalDepth = 56.953600;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.677326
#   Actual altitude:          51.677326
#   Commanded vehicle depth:  56.9536 
#   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 = 15.50;
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 109
#   Segment length 104.933947 meters
#   Minimum depth: 108.812877 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.415862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.812877 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 = 61.038698;
finalDepth = 58.812877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.351587
#   Actual altitude:          52.351587
#   Commanded vehicle depth:  58.812877 
#   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 = 15.71;
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 109
#   Segment length 101.088274 meters
#   Minimum depth: 111.038698 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.982693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.812800;
longitude = -122.082252;
duration = 202;
initialDepth = 61.465925;
finalDepth = 61.038698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.351587
#   Actual altitude:          52.351587
#   Commanded vehicle depth:  61.038698 
#   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 = 15.71;
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 to get to end of line 108
#   Segment length 139.038092 meters
#   Minimum depth: 111.465925 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.920159 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.465925 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 = 62.670124;
finalDepth = 61.465925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.445936
#   Actual altitude:          50.445936
#   Commanded vehicle depth:  61.465925 
#   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 = 15.13;
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 108
#   Segment length 100.150322 meters
#   Minimum depth: 112.670124 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.169004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.670124 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 = 65.232002;
finalDepth = 62.670124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4767
#   Actual altitude:          52.4767
#   Commanded vehicle depth:  62.670124 
#   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 = 15.74;
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 108
#   Segment length 100.150639 meters
#   Minimum depth: 115.232002 meters looking forward 200.000000 meters along route
#   Maximum depth: 127.279124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.232002 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 = 69.568112;
finalDepth = 65.232002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.073418
#   Actual altitude:          54.073418
#   Commanded vehicle depth:  65.232002 
#   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 = 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 108
#   Segment length 101.771299 meters
#   Minimum depth: 119.568112 meters looking forward 200.000000 meters along route
#   Maximum depth: 127.279124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.568112 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 = 71.187357;
finalDepth = 69.568112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.073418
#   Actual altitude:          54.073418
#   Commanded vehicle depth:  69.568112 
#   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 = 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 108
#   Segment length 104.050305 meters
#   Minimum depth: 121.187357 meters looking forward 200.000000 meters along route
#   Maximum depth: 124.682847 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.810084;
longitude = -122.086184;
duration = 208;
initialDepth = 72.781655;
finalDepth = 71.187357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.094101
#   Actual altitude:          52.094101
#   Commanded vehicle depth:  71.187357 
#   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 = 15.63;
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;
}
# 
#######################################################
# 
# 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 107
#   Segment length 92.040311 meters
#   Minimum depth: 122.781655 meters looking forward 200.000000 meters along route
#   Maximum depth: 124.892011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.781655 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 = 184;
# abortOnTimeout    = True; 
initialDepth = 72.781655;
finalDepth = 72.781655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.094101
#   Actual altitude:          52.094101
#   Commanded vehicle depth:  72.781655 
#   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 = 15.63;
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 107
#   Segment length 105.128986 meters
#   Minimum depth: 122.781655 meters looking forward 200.000000 meters along route
#   Maximum depth: 143.868411 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.781655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808618;
longitude = -122.087405;
duration = 210;
initialDepth = 74.892011;
finalDepth = 72.781655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.223553
#   Actual altitude:          52.223553
#   Commanded vehicle depth:  72.781655 
#   Seafloor depth:           -125.005208
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
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 to get to end of line 106
#   Segment length 88.538697 meters
#   Minimum depth: 124.892011 meters looking forward 200.000000 meters along route
#   Maximum depth: 163.223993 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.892011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807801;
longitude = -122.088003;
duration = 177;
# abortOnTimeout    = True; 
initialDepth = 93.484724;
finalDepth = 74.892011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.387062
#   Actual altitude:          69.387062
#   Commanded vehicle depth:  74.892011 
#   Seafloor depth:           -144.279073
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.82;
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 106
#   Segment length 102.160242 meters
#   Minimum depth: 143.484724 meters looking forward 200.000000 meters along route
#   Maximum depth: 173.060854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.484724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807636;
longitude = -122.088974;
duration = 204;
initialDepth = 93.770164;
finalDepth = 93.484724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.289249
#   Actual altitude:          71.289249
#   Commanded vehicle depth:  93.484724 
#   Seafloor depth:           -164.773973
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.39;
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 106
#   Segment length 102.160464 meters
#   Minimum depth: 143.770164 meters looking forward 200.000000 meters along route
#   Maximum depth: 173.060854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.770164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807445;
longitude = -122.090094;
duration = 204;
initialDepth = 88.759925;
finalDepth = 93.770164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.289249
#   Actual altitude:          71.289249
#   Commanded vehicle depth:  93.770164 
#   Seafloor depth:           -164.842942
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.39;
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 106
#   Segment length 108.971407 meters
#   Minimum depth: 138.759925 meters looking forward 200.000000 meters along route
#   Maximum depth: 161.194316 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 88.759925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807254;
longitude = -122.091214;
duration = 217;
initialDepth = 88.015233;
finalDepth = 88.759925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       71.072778
#   Actual altitude:          71.072778
#   Commanded vehicle depth:  88.759925 
#   Seafloor depth:           -142.897844
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.32;
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 to get to end of line 105
#   Segment length 105.551045 meters
#   Minimum depth: 138.015233 meters looking forward 200.000000 meters along route
#   Maximum depth: 144.518672 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 88.015233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807050;
longitude = -122.092409;
duration = 211;
# abortOnTimeout    = True; 
initialDepth = 89.405874;
finalDepth = 88.015233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.137919
#   Actual altitude:          54.137919
#   Commanded vehicle depth:  88.015233 
#   Seafloor depth:           -138.684672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
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 105
#   Segment length 101.781583 meters
#   Minimum depth: 139.405874 meters looking forward 200.000000 meters along route
#   Maximum depth: 149.663099 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 89.405874 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806209;
longitude = -122.092962;
duration = 203;
initialDepth = 94.849976;
finalDepth = 89.405874;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.168409
#   Actual altitude:          55.168409
#   Commanded vehicle depth:  89.405874 
#   Seafloor depth:           -144.574283
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 105
#   Segment length 101.781797 meters
#   Minimum depth: 144.849976 meters looking forward 200.000000 meters along route
#   Maximum depth: 158.803040 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 94.849976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805398;
longitude = -122.093495;
duration = 203;
initialDepth = 101.089449;
finalDepth = 94.849976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.168409
#   Actual altitude:          55.168409
#   Commanded vehicle depth:  94.849976 
#   Seafloor depth:           -149.823334
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 105
#   Segment length 101.782011 meters
#   Minimum depth: 151.089449 meters looking forward 200.000000 meters along route
#   Maximum depth: 164.128980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 101.089449 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804587;
longitude = -122.094028;
duration = 203;
initialDepth = 110.376460;
finalDepth = 101.089449;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.952578
#   Actual altitude:          57.952578
#   Commanded vehicle depth:  101.089449 
#   Seafloor depth:           -159.042027
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.39;
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 105
#   Segment length 101.782226 meters
#   Minimum depth: 160.376460 meters looking forward 200.000000 meters along route
#   Maximum depth: 169.766421 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 110.376460 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803776;
longitude = -122.094562;
duration = 203;
initialDepth = 115.127208;
finalDepth = 110.376460;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.952578
#   Actual altitude:          57.952578
#   Commanded vehicle depth:  110.37646 
#   Seafloor depth:           -164.748553
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.39;
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 105
#   Segment length 101.782439 meters
#   Minimum depth: 165.127208 meters looking forward 200.000000 meters along route
#   Maximum depth: 178.738138 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 115.127208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802964;
longitude = -122.095095;
duration = 203;
initialDepth = 121.353196;
finalDepth = 115.127208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.128862
#   Actual altitude:          56.128862
#   Commanded vehicle depth:  115.127208 
#   Seafloor depth:           -171.256070
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 105
#   Segment length 105.552385 meters
#   Minimum depth: 171.353196 meters looking forward 200.000000 meters along route
#   Maximum depth: 191.734495 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.353196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802153;
longitude = -122.095628;
duration = 211;
initialDepth = 132.773639;
finalDepth = 121.353196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.815291
#   Actual altitude:          57.815291
#   Commanded vehicle depth:  121.353196 
#   Seafloor depth:           -179.168487
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.34;
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 104
#   Segment length 126.900394 meters
#   Minimum depth: 182.773639 meters looking forward 200.000000 meters along route
#   Maximum depth: 208.570321 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 132.773639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801312;
longitude = -122.096181;
duration = 253;
# abortOnTimeout    = True; 
initialDepth = 146.017100;
finalDepth = 132.773639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.348736
#   Actual altitude:          59.348736
#   Commanded vehicle depth:  132.773639 
#   Seafloor depth:           -192.122375
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.80;
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 104
#   Segment length 101.520486 meters
#   Minimum depth: 196.017100 meters looking forward 200.000000 meters along route
#   Maximum depth: 224.829397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 146.017100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800261;
longitude = -122.096741;
duration = 203;
initialDepth = 156.397786;
finalDepth = 146.017100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       63.388306
#   Actual altitude:          63.388306
#   Commanded vehicle depth:  146.0171 
#   Seafloor depth:           -209.405406
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.02;
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 103
#   Segment length 75.511708 meters
#   Minimum depth: 206.397786 meters looking forward 200.000000 meters along route
#   Maximum depth: 233.450150 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 156.397786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799420;
longitude = -122.097189;
duration = 151;
# abortOnTimeout    = True; 
initialDepth = 173.055997;
finalDepth = 156.397786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.023641
#   Actual altitude:          69.023641
#   Commanded vehicle depth:  156.397786 
#   Seafloor depth:           -225.421427
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.71;
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 103
#   Segment length 102.480478 meters
#   Minimum depth: 223.055997 meters looking forward 200.000000 meters along route
#   Maximum depth: 251.176103 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 173.055997 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798884;
longitude = -122.097712;
duration = 204;
initialDepth = 182.309662;
finalDepth = 173.055997;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       69.023641
#   Actual altitude:          69.023641
#   Commanded vehicle depth:  173.055997 
#   Seafloor depth:           -234.071897
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.71;
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 to get to end of line 102
#   Segment length 78.482564 meters
#   Minimum depth: 232.309662 meters looking forward 200.000000 meters along route
#   Maximum depth: 259.171654 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 182.309662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798158;
longitude = -122.098422;
duration = 156;
# abortOnTimeout    = True; 
initialDepth = 198.427614;
finalDepth = 182.309662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.392527
#   Actual altitude:          69.392527
#   Commanded vehicle depth:  182.309662 
#   Seafloor depth:           -251.702189
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.82;
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 102
#   Segment length 103.831379 meters
#   Minimum depth: 248.427614 meters looking forward 200.000000 meters along route
#   Maximum depth: 267.721678 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 198.427614 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797737;
longitude = -122.099129;
duration = 207;
initialDepth = 211.799988;
finalDepth = 198.427614;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.392527
#   Actual altitude:          69.392527
#   Commanded vehicle depth:  198.427614 
#   Seafloor depth:           -259.452818
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.82;
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 102
#   Segment length 103.588105 meters
#   Minimum depth: 261.799988 meters looking forward 200.000000 meters along route
#   Maximum depth: 269.974120 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 211.799988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797181;
longitude = -122.100065;
duration = 207;
initialDepth = 218.599662;
finalDepth = 211.799988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.025204
#   Actual altitude:          61.025204
#   Commanded vehicle depth:  211.799988 
#   Seafloor depth:           -266.691118
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 101
#   Segment length 136.068810 meters
#   Minimum depth: 268.599662 meters looking forward 200.000000 meters along route
#   Maximum depth: 272.754331 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 218.599662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796626;
longitude = -122.100998;
duration = 272;
# abortOnTimeout    = True; 
initialDepth = 220.721082;
finalDepth = 218.599662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.89113
#   Actual altitude:          54.89113
#   Commanded vehicle depth:  218.599662 
#   Seafloor depth:           -270.855672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 101
#   Segment length 100.455201 meters
#   Minimum depth: 270.721082 meters looking forward 200.000000 meters along route
#   Maximum depth: 278.109878 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 220.721082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796176;
longitude = -122.102417;
duration = 200;
initialDepth = 223.549124;
finalDepth = 220.721082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.25601
#   Actual altitude:          52.25601
#   Commanded vehicle depth:  220.721082 
#   Seafloor depth:           -272.866182
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 101
#   Segment length 100.068444 meters
#   Minimum depth: 273.549124 meters looking forward 200.000000 meters along route
#   Maximum depth: 283.467960 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 223.549124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795845;
longitude = -122.103465;
duration = 200;
initialDepth = 230.877356;
finalDepth = 223.549124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       55.077386
#   Actual altitude:          55.077386
#   Commanded vehicle depth:  223.549124 
#   Seafloor depth:           -278.626510
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 100
#   Segment length 145.129340 meters
#   Minimum depth: 280.877356 meters looking forward 200.000000 meters along route
#   Maximum depth: 306.371584 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 230.877356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795514;
longitude = -122.104509;
duration = 290;
# abortOnTimeout    = True; 
initialDepth = 242.057271;
finalDepth = 230.877356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.077386
#   Actual altitude:          55.077386
#   Commanded vehicle depth:  230.877356 
#   Seafloor depth:           -283.590007
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 100
#   Segment length 101.253049 meters
#   Minimum depth: 292.057271 meters looking forward 200.000000 meters along route
#   Maximum depth: 323.936603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 242.057271 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794222;
longitude = -122.104252;
duration = 202;
initialDepth = 259.909569;
finalDepth = 242.057271;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.797718
#   Actual altitude:          66.797718
#   Commanded vehicle depth:  242.057271 
#   Seafloor depth:           -308.854989
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.04;
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 100
#   Segment length 101.253068 meters
#   Minimum depth: 309.909569 meters looking forward 200.000000 meters along route
#   Maximum depth: 340.573232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 259.909569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793321;
longitude = -122.104072;
duration = 202;
initialDepth = 277.085200;
finalDepth = 259.909569;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.797718
#   Actual altitude:          66.797718
#   Commanded vehicle depth:  259.909569 
#   Seafloor depth:           -324.618287
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.04;
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 100
#   Segment length 101.253085 meters
#   Minimum depth: 327.085200 meters looking forward 200.000000 meters along route
#   Maximum depth: 361.494285 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 277.085200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792420;
longitude = -122.103893;
duration = 202;
initialDepth = 295.315164;
finalDepth = 277.085200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.375095
#   Actual altitude:          65.375095
#   Commanded vehicle depth:  277.0852 
#   Seafloor depth:           -342.460295
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.61;
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 100
#   Segment length 101.253104 meters
#   Minimum depth: 345.315164 meters looking forward 200.000000 meters along route
#   Maximum depth: 388.140060 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 295.315164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791519;
longitude = -122.103714;
duration = 202;
initialDepth = 312.994921;
finalDepth = 295.315164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.259556
#   Actual altitude:          67.259556
#   Commanded vehicle depth:  295.315164 
#   Seafloor depth:           -362.574720
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 100
#   Segment length 101.253121 meters
#   Minimum depth: 362.994921 meters looking forward 200.000000 meters along route
#   Maximum depth: 399.977869 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 312.994921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790617;
longitude = -122.103535;
duration = 202;
initialDepth = 337.205874;
finalDepth = 312.994921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.254609
#   Actual altitude:          76.254609
#   Commanded vehicle depth:  312.994921 
#   Seafloor depth:           -389.249530
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.88;
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 100
#   Segment length 108.003350 meters
#   Minimum depth: 387.205874 meters looking forward 200.000000 meters along route
#   Maximum depth: 434.032147 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 337.205874 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789716;
longitude = -122.103355;
duration = 216;
initialDepth = 365.740528;
finalDepth = 337.205874;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       76.254609
#   Actual altitude:          76.254609
#   Commanded vehicle depth:  337.205874 
#   Seafloor depth:           -400.619430
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.88;
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 99
#   Segment length 116.477958 meters
#   Minimum depth: 415.740528 meters looking forward 200.000000 meters along route
#   Maximum depth: 452.763780 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 365.740528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788755;
longitude = -122.103164;
duration = 232;
# abortOnTimeout    = True; 
initialDepth = 381.789321;
finalDepth = 365.740528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.570833
#   Actual altitude:          68.570833
#   Commanded vehicle depth:  365.740528 
#   Seafloor depth:           -434.311361
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.57;
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 99
#   Segment length 109.197622 meters
#   Minimum depth: 431.789321 meters looking forward 200.000000 meters along route
#   Maximum depth: 452.866506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 381.789321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789177;
longitude = -122.101969;
duration = 218;
initialDepth = 389.058764;
finalDepth = 381.789321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.077185
#   Actual altitude:          71.077185
#   Commanded vehicle depth:  381.789321 
#   Seafloor depth:           -452.866506
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.32;
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 105.557275 meters
#   Minimum depth: 439.058764 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.898007 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 389.058764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789574;
longitude = -122.100849;
duration = 211;
initialDepth = 398.855873;
finalDepth = 389.058764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       71.077185
#   Actual altitude:          71.077185
#   Commanded vehicle depth:  389.058764 
#   Seafloor depth:           -443.972798
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.32;
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 to get to end of line 98
#   Segment length 163.410524 meters
#   Minimum depth: 448.855873 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.052386 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 398.855873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789957;
longitude = -122.099766;
duration = 326;
# abortOnTimeout    = True; 
initialDepth = 408.185448;
finalDepth = 398.855873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.791303
#   Actual altitude:          58.791303
#   Commanded vehicle depth:  398.855873 
#   Seafloor depth:           -457.647176
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.64;
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 97
#   Segment length 97.905522 meters
#   Minimum depth: 458.185448 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.052386 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 408.185448 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790377;
longitude = -122.098011;
duration = 195;
# abortOnTimeout    = True; 
initialDepth = 367.195077;
finalDepth = 408.185448;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       114.701271
#   Actual altitude:          100
#   Commanded vehicle depth:  408.185448 
#   Seafloor depth:           -522.886719
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 97
#   Segment length 100.573553 meters
#   Minimum depth: 417.195077 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.886719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 367.195077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791251;
longitude = -122.098160;
duration = 201;
initialDepth = 331.868498;
finalDepth = 367.195077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       114.701271
#   Actual altitude:          100
#   Commanded vehicle depth:  367.195077 
#   Seafloor depth:           -462.953771
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 97
#   Segment length 100.921549 meters
#   Minimum depth: 381.868498 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.181114 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 331.868498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792150;
longitude = -122.098314;
duration = 201;
initialDepth = 314.326289;
finalDepth = 331.868498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.758694
#   Actual altitude:          95.758694
#   Commanded vehicle depth:  331.868498 
#   Seafloor depth:           -415.302785
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.73;
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 97
#   Segment length 100.921540 meters
#   Minimum depth: 364.326289 meters looking forward 200.000000 meters along route
#   Maximum depth: 414.169126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 314.326289 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793051;
longitude = -122.098468;
duration = 201;
initialDepth = 288.045546;
finalDepth = 314.326289;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.434287
#   Actual altitude:          83.434287
#   Commanded vehicle depth:  314.326289 
#   Seafloor depth:           -378.893632
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.03;
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 97
#   Segment length 100.921529 meters
#   Minimum depth: 338.045546 meters looking forward 200.000000 meters along route
#   Maximum depth: 378.251970 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 288.045546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793952;
longitude = -122.098622;
duration = 201;
initialDepth = 260.375811;
finalDepth = 288.045546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.705462
#   Actual altitude:          70.705462
#   Commanded vehicle depth:  288.045546 
#   Seafloor depth:           -358.751008
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.21;
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 97
#   Segment length 100.921520 meters
#   Minimum depth: 310.375811 meters looking forward 200.000000 meters along route
#   Maximum depth: 358.754747 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 260.375811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794853;
longitude = -122.098776;
duration = 201;
initialDepth = 236.950522;
finalDepth = 260.375811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.570335
#   Actual altitude:          74.570335
#   Commanded vehicle depth:  260.375811 
#   Seafloor depth:           -334.946146
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.37;
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 97
#   Segment length 107.649610 meters
#   Minimum depth: 286.950522 meters looking forward 200.000000 meters along route
#   Maximum depth: 332.151335 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 236.950522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795754;
longitude = -122.098929;
duration = 215;
initialDepth = 225.483836;
finalDepth = 236.950522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       74.570335
#   Actual altitude:          74.570335
#   Commanded vehicle depth:  236.950522 
#   Seafloor depth:           -309.582329
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.37;
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 to get to end of line 96
#   Segment length 156.460966 meters
#   Minimum depth: 275.483836 meters looking forward 200.000000 meters along route
#   Maximum depth: 293.504986 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 225.483836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796716;
longitude = -122.099094;
duration = 312;
# abortOnTimeout    = True; 
initialDepth = 208.677148;
finalDepth = 225.483836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       72.631807
#   Actual altitude:          72.631807
#   Commanded vehicle depth:  225.483836 
#   Seafloor depth:           -285.753825
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 95
#   Segment length 104.638814 meters
#   Minimum depth: 258.677148 meters looking forward 200.000000 meters along route
#   Maximum depth: 282.780045 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.677148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797347;
longitude = -122.097525;
duration = 209;
# abortOnTimeout    = True; 
initialDepth = 191.932259;
finalDepth = 208.677148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.161068
#   Actual altitude:          66.161068
#   Commanded vehicle depth:  208.677148 
#   Seafloor depth:           -274.838216
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 95
#   Segment length 104.638461 meters
#   Minimum depth: 241.932259 meters looking forward 200.000000 meters along route
#   Maximum depth: 271.186393 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.932259 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798098;
longitude = -122.096816;
duration = 209;
initialDepth = 175.925584;
finalDepth = 191.932259;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       66.161068
#   Actual altitude:          66.161068
#   Commanded vehicle depth:  191.932259 
#   Seafloor depth:           -256.880798
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 94
#   Segment length 107.316124 meters
#   Minimum depth: 225.925584 meters looking forward 200.000000 meters along route
#   Maximum depth: 254.786539 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.925584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798849;
longitude = -122.096106;
duration = 214;
# abortOnTimeout    = True; 
initialDepth = 159.317867;
finalDepth = 175.925584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.536574
#   Actual altitude:          65.536574
#   Commanded vehicle depth:  175.925584 
#   Seafloor depth:           -241.462158
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.66;
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 94
#   Segment length 107.315916 meters
#   Minimum depth: 209.317867 meters looking forward 200.000000 meters along route
#   Maximum depth: 238.664708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 159.317867 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799720;
longitude = -122.095583;
duration = 214;
initialDepth = 149.021547;
finalDepth = 159.317867;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.536574
#   Actual altitude:          65.536574
#   Commanded vehicle depth:  159.317867 
#   Seafloor depth:           -223.884659
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.66;
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 93
#   Segment length 148.252031 meters
#   Minimum depth: 199.021547 meters looking forward 200.000000 meters along route
#   Maximum depth: 213.734117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 149.021547 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800591;
longitude = -122.095061;
duration = 296;
# abortOnTimeout    = True; 
initialDepth = 142.127248;
finalDepth = 149.021547;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.566792
#   Actual altitude:          64.566792
#   Commanded vehicle depth:  149.021547 
#   Seafloor depth:           -209.041606
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.37;
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 93
#   Segment length 101.080642 meters
#   Minimum depth: 192.127248 meters looking forward 200.000000 meters along route
#   Maximum depth: 204.162091 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 142.127248 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801753;
longitude = -122.094239;
duration = 202;
initialDepth = 132.585554;
finalDepth = 142.127248;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.020059
#   Actual altitude:          60.020059
#   Commanded vehicle depth:  142.127248 
#   Seafloor depth:           -198.791361
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.01;
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 93
#   Segment length 101.080407 meters
#   Minimum depth: 182.585554 meters looking forward 200.000000 meters along route
#   Maximum depth: 198.660866 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 132.585554 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802545;
longitude = -122.093679;
duration = 202;
initialDepth = 125.568175;
finalDepth = 132.585554;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.145625
#   Actual altitude:          59.145625
#   Commanded vehicle depth:  132.585554 
#   Seafloor depth:           -191.731179
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 during line 93
#   Segment length 102.009645 meters
#   Minimum depth: 175.568175 meters looking forward 200.000000 meters along route
#   Maximum depth: 191.165506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 125.568175 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803337;
longitude = -122.093119;
duration = 204;
initialDepth = 121.863445;
finalDepth = 125.568175;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.145625
#   Actual altitude:          59.145625
#   Commanded vehicle depth:  125.568175 
#   Seafloor depth:           -182.512357
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 during line 93
#   Segment length 103.519795 meters
#   Minimum depth: 171.863445 meters looking forward 200.000000 meters along route
#   Maximum depth: 181.998974 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.863445 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804136;
longitude = -122.092553;
duration = 207;
initialDepth = 121.863445;
finalDepth = 121.863445;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.944182
#   Actual altitude:          56.944182
#   Commanded vehicle depth:  121.863445 
#   Seafloor depth:           -175.464542
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 93
#   Segment length 111.187653 meters
#   Minimum depth: 171.863445 meters looking forward 200.000000 meters along route
#   Maximum depth: 176.417003 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.863445 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804947;
longitude = -122.091980;
duration = 222;
initialDepth = 124.332205;
finalDepth = 121.863445;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.601097
#   Actual altitude:          53.601097
#   Commanded vehicle depth:  121.863445 
#   Seafloor depth:           -172.259015
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 92
#   Segment length 147.914165 meters
#   Minimum depth: 174.332205 meters looking forward 200.000000 meters along route
#   Maximum depth: 228.842038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 124.332205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805818;
longitude = -122.091364;
duration = 295;
# abortOnTimeout    = True; 
initialDepth = 139.536853;
finalDepth = 124.332205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.547006
#   Actual altitude:          50.547006
#   Commanded vehicle depth:  124.332205 
#   Seafloor depth:           -174.879211
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 92
#   Segment length 106.253243 meters
#   Minimum depth: 189.536853 meters looking forward 200.000000 meters along route
#   Maximum depth: 228.842038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 139.536853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806151;
longitude = -122.089758;
duration = 212;
initialDepth = 104.970809;
finalDepth = 139.536853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.660556
#   Actual altitude:          88.660556
#   Commanded vehicle depth:  139.536853 
#   Seafloor depth:           -228.197409
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.60;
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 107.017364 meters
#   Minimum depth: 154.970809 meters looking forward 200.000000 meters along route
#   Maximum depth: 227.535658 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 104.970809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806389;
longitude = -122.088604;
duration = 214;
initialDepth = 90.020309;
finalDepth = 104.970809;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       88.660556
#   Actual altitude:          88.660556
#   Commanded vehicle depth:  104.970809 
#   Seafloor depth:           -188.554291
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.60;
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 to get to end of line 91
#   Segment length 148.600631 meters
#   Minimum depth: 140.020309 meters looking forward 200.000000 meters along route
#   Maximum depth: 166.008334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.020309 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806629;
longitude = -122.087442;
duration = 297;
# abortOnTimeout    = True; 
initialDepth = 87.928313;
finalDepth = 90.020309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       83.583482
#   Actual altitude:          83.583482
#   Commanded vehicle depth:  90.020309 
#   Seafloor depth:           -154.904816
# 
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 = 25.08;
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;
}
# 
#######################################################
# 
# 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 90
#   Segment length 117.298040 meters
#   Minimum depth: 137.928313 meters looking forward 200.000000 meters along route
#   Maximum depth: 143.201643 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 87.928313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807531;
longitude = -122.086210;
duration = 234;
# abortOnTimeout    = True; 
initialDepth = 87.928313;
finalDepth = 87.928313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.884507
#   Actual altitude:          64.884507
#   Commanded vehicle depth:  87.928313 
#   Seafloor depth:           -139.490133
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 100.540822 meters
#   Minimum depth: 137.928313 meters looking forward 200.000000 meters along route
#   Maximum depth: 144.685443 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 87.928313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808372;
longitude = -122.085413;
duration = 201;
initialDepth = 90.218226;
finalDepth = 87.928313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.295749
#   Actual altitude:          55.295749
#   Commanded vehicle depth:  87.928313 
#   Seafloor depth:           -143.224062
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 101.061572 meters
#   Minimum depth: 140.218226 meters looking forward 200.000000 meters along route
#   Maximum depth: 160.513337 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.218226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809093;
longitude = -122.084731;
duration = 202;
initialDepth = 81.681955;
finalDepth = 90.218226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.295749
#   Actual altitude:          55.295749
#   Commanded vehicle depth:  90.218226 
#   Seafloor depth:           -142.044835
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 100.019096 meters
#   Minimum depth: 131.681955 meters looking forward 200.000000 meters along route
#   Maximum depth: 161.249648 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.681955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809818;
longitude = -122.084044;
duration = 200;
initialDepth = 65.274413;
finalDepth = 81.681955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.871596
#   Actual altitude:          78.871596
#   Commanded vehicle depth:  81.681955 
#   Seafloor depth:           -160.553551
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.66;
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 90
#   Segment length 108.928959 meters
#   Minimum depth: 115.274413 meters looking forward 200.000000 meters along route
#   Maximum depth: 161.249648 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.274413 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810535;
longitude = -122.083365;
duration = 217;
initialDepth = 61.805509;
finalDepth = 65.274413;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       78.871596
#   Actual altitude:          78.871596
#   Commanded vehicle depth:  65.274413 
#   Seafloor depth:           -131.454983
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.66;
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 89
#   Segment length 141.165465 meters
#   Minimum depth: 111.805509 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.629577 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       66.18057
#   Actual altitude:          66.18057
#   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 89
#   Segment length 100.821113 meters
#   Minimum depth: 109.867767 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.082734 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 89
#   Segment length 101.699536 meters
#   Minimum depth: 108.977110 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.595689 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 58.977110;
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 89
#   Segment length 100.628285 meters
#   Minimum depth: 108.977110 meters looking forward 200.000000 meters along route
#   Maximum depth: 110.772932 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.809634;
longitude = -122.079390;
duration = 201;
initialDepth = 59.966621;
finalDepth = 58.977110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.758451
#   Actual altitude:          50.758451
#   Commanded vehicle depth:  58.97711 
#   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 89
#   Segment length 107.115496 meters
#   Minimum depth: 109.966621 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.223944 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.966621 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 = 59.966621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.852773
#   Actual altitude:          50.852773
#   Commanded vehicle depth:  59.966621 
#   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 = 15.26;
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 89
#   Segment length 107.116029 meters
#   Minimum depth: 109.220347 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.223944 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 59.220347;
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 89
#   Segment length 108.598601 meters
#   Minimum depth: 109.220347 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.355128 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.808092;
longitude = -122.076426;
duration = 217;
initialDepth = 60.257757;
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:           -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 89
#   Segment length 105.635052 meters
#   Minimum depth: 110.257757 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.355128 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 60.429765;
finalDepth = 60.257757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.73006
#   Actual altitude:          50.73006
#   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 = 15.22;
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 89
#   Segment length 103.099230 meters
#   Minimum depth: 110.429765 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.668323 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.429765 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 = 64.273266;
finalDepth = 60.429765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.75693
#   Actual altitude:          50.75693
#   Commanded vehicle depth:  60.429765 
#   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 = 15.23;
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 88
#   Segment length 178.774067 meters
#   Minimum depth: 114.273266 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.645394 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.273266 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 = 64.273266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.75693
#   Actual altitude:          50.75693
#   Commanded vehicle depth:  64.273266 
#   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 = 15.23;
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 88
#   Segment length 106.120299 meters
#   Minimum depth: 116.780593 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.645394 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 66.780593;
finalDepth = 66.780593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.657434
#   Actual altitude:          50.657434
#   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 = 15.20;
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 88
#   Segment length 103.688074 meters
#   Minimum depth: 116.780593 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.961320 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.805218;
longitude = -122.070701;
duration = 207;
initialDepth = 67.259348;
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:           -117.054624
# 
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 88
#   Segment length 104.904944 meters
#   Minimum depth: 117.259348 meters looking forward 200.000000 meters along route
#   Maximum depth: 120.545378 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 67.259348 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 = 69.156255;
finalDepth = 67.259348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.716384
#   Actual altitude:          51.716384
#   Commanded vehicle depth:  67.259348 
#   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 = 15.51;
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 88
#   Segment length 104.905449 meters
#   Minimum depth: 119.156255 meters looking forward 200.000000 meters along route
#   Maximum depth: 123.356719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.156255 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 = 71.326331;
finalDepth = 69.156255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.801624
#   Actual altitude:          51.801624
#   Commanded vehicle depth:  69.156255 
#   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 = 15.54;
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 88
#   Segment length 100.981974 meters
#   Minimum depth: 121.326331 meters looking forward 200.000000 meters along route
#   Maximum depth: 123.747666 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 71.326331 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 = 73.174374;
finalDepth = 71.326331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.045429
#   Actual altitude:          52.045429
#   Commanded vehicle depth:  71.326331 
#   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 = 15.61;
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 87
#   Segment length 131.822099 meters
#   Minimum depth: 123.174374 meters looking forward 200.000000 meters along route
#   Maximum depth: 126.485360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.803295;
longitude = -122.066717;
duration = 263;
# abortOnTimeout    = True; 
initialDepth = 74.606511;
finalDepth = 73.174374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.045429
#   Actual altitude:          52.045429
#   Commanded vehicle depth:  73.174374 
#   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 = 15.61;
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 87
#   Segment length 101.679794 meters
#   Minimum depth: 124.606511 meters looking forward 200.000000 meters along route
#   Maximum depth: 131.417735 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.606511 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 = 77.064423;
finalDepth = 74.606511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.380348
#   Actual altitude:          52.380348
#   Commanded vehicle depth:  74.606511 
#   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 = 15.71;
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 87
#   Segment length 101.680025 meters
#   Minimum depth: 127.064423 meters looking forward 200.000000 meters along route
#   Maximum depth: 134.481439 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.064423 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 = 81.653945;
finalDepth = 77.064423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5121
#   Actual altitude:          54.5121
#   Commanded vehicle depth:  77.064423 
#   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 = 16.35;
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 87
#   Segment length 101.680256 meters
#   Minimum depth: 131.653945 meters looking forward 200.000000 meters along route
#   Maximum depth: 139.989719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.653945 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 = 85.193303;
finalDepth = 81.653945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5121
#   Actual altitude:          54.5121
#   Commanded vehicle depth:  81.653945 
#   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 = 16.35;
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 87
#   Segment length 106.991853 meters
#   Minimum depth: 135.193303 meters looking forward 200.000000 meters along route
#   Maximum depth: 146.302847 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 85.193303 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 = 90.550003;
finalDepth = 85.193303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.816822
#   Actual altitude:          54.816822
#   Commanded vehicle depth:  85.193303 
#   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 = 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 87
#   Segment length 100.110794 meters
#   Minimum depth: 140.550003 meters looking forward 200.000000 meters along route
#   Maximum depth: 150.553073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.550003 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 = 98.235272;
finalDepth = 90.550003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       56.088639
#   Actual altitude:          56.088639
#   Commanded vehicle depth:  90.550003 
#   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 = 16.83;
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 to get to end of line 86
#   Segment length 128.717934 meters
#   Minimum depth: 148.235272 meters looking forward 200.000000 meters along route
#   Maximum depth: 150.959305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 98.235272 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 = 98.235272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.088639
#   Actual altitude:          56.088639
#   Commanded vehicle depth:  98.235272 
#   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 = 16.83;
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 86
#   Segment length 101.574521 meters
#   Minimum depth: 148.421648 meters looking forward 200.000000 meters along route
#   Maximum depth: 152.023207 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 98.421648;
finalDepth = 98.421648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.724033
#   Actual altitude:          52.724033
#   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 = 15.82;
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 86
#   Segment length 101.574776 meters
#   Minimum depth: 148.421648 meters looking forward 200.000000 meters along route
#   Maximum depth: 155.522223 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.796351;
longitude = -122.062086;
duration = 203;
initialDepth = 102.903548;
finalDepth = 98.421648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.658805
#   Actual altitude:          53.658805
#   Commanded vehicle depth:  98.421648 
#   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 = 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 86
#   Segment length 108.407485 meters
#   Minimum depth: 152.903548 meters looking forward 200.000000 meters along route
#   Maximum depth: 158.788772 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 102.903548 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 = 107.141859;
finalDepth = 102.903548;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.658805
#   Actual altitude:          53.658805
#   Commanded vehicle depth:  102.903548 
#   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 = 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 to get to end of line 85
#   Segment length 151.753453 meters
#   Minimum depth: 157.141859 meters looking forward 200.000000 meters along route
#   Maximum depth: 164.567365 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 107.141859 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 = 110.689295;
finalDepth = 107.141859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.678559
#   Actual altitude:          52.678559
#   Commanded vehicle depth:  107.141859 
#   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 = 15.80;
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 85
#   Segment length 102.437926 meters
#   Minimum depth: 160.689295 meters looking forward 200.000000 meters along route
#   Maximum depth: 169.105868 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 110.689295 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 = 115.058295;
finalDepth = 110.689295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.868655
#   Actual altitude:          53.868655
#   Commanded vehicle depth:  110.689295 
#   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 = 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 85
#   Segment length 102.438173 meters
#   Minimum depth: 165.058295 meters looking forward 200.000000 meters along route
#   Maximum depth: 174.088642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 115.058295 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 = 119.261265;
finalDepth = 115.058295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.943875
#   Actual altitude:          53.943875
#   Commanded vehicle depth:  115.058295 
#   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 = 16.18;
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 85
#   Segment length 102.438419 meters
#   Minimum depth: 169.261265 meters looking forward 200.000000 meters along route
#   Maximum depth: 177.945237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 119.261265 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 = 123.509989;
finalDepth = 119.261265;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.032716
#   Actual altitude:          54.032716
#   Commanded vehicle depth:  119.261265 
#   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 = 16.21;
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 85
#   Segment length 102.438665 meters
#   Minimum depth: 173.509989 meters looking forward 200.000000 meters along route
#   Maximum depth: 185.285743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 123.509989 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 = 128.992507;
finalDepth = 123.509989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.839686
#   Actual altitude:          54.839686
#   Commanded vehicle depth:  123.509989 
#   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 = 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 85
#   Segment length 102.438911 meters
#   Minimum depth: 178.992507 meters looking forward 200.000000 meters along route
#   Maximum depth: 195.752237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 128.992507 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 = 137.265029;
finalDepth = 128.992507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.528588
#   Actual altitude:          56.528588
#   Commanded vehicle depth:  128.992507 
#   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 = 16.96;
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 85
#   Segment length 109.977852 meters
#   Minimum depth: 187.265029 meters looking forward 200.000000 meters along route
#   Maximum depth: 203.993855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 137.265029 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 = 147.716110;
finalDepth = 137.265029;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.660522
#   Actual altitude:          58.660522
#   Commanded vehicle depth:  137.265029 
#   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 = 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 to get to end of line 84
#   Segment length 92.121662 meters
#   Minimum depth: 197.716110 meters looking forward 200.000000 meters along route
#   Maximum depth: 207.365944 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 147.716110 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 = 154.812371;
finalDepth = 147.716110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.660522
#   Actual altitude:          58.660522
#   Commanded vehicle depth:  147.71611 
#   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 = 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 84
#   Segment length 110.571597 meters
#   Minimum depth: 204.812371 meters looking forward 200.000000 meters along route
#   Maximum depth: 215.688770 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 154.812371 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 = 157.733392;
finalDepth = 154.812371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.795357
#   Actual altitude:          56.795357
#   Commanded vehicle depth:  154.812371 
#   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 = 17.04;
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 84
#   Segment length 101.416571 meters
#   Minimum depth: 207.733392 meters looking forward 200.000000 meters along route
#   Maximum depth: 231.058735 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 157.733392 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 = 169.087194;
finalDepth = 157.733392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.485323
#   Actual altitude:          58.485323
#   Commanded vehicle depth:  157.733392 
#   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 = 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;
}
# 
#######################################################
# 
# 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 83
#   Segment length 125.898693 meters
#   Minimum depth: 219.087194 meters looking forward 200.000000 meters along route
#   Maximum depth: 247.361927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 169.087194 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 = 184.989117;
finalDepth = 169.087194;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.385558
#   Actual altitude:          63.385558
#   Commanded vehicle depth:  169.087194 
#   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 = 19.02;
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 83
#   Segment length 105.504507 meters
#   Minimum depth: 234.989117 meters looking forward 200.000000 meters along route
#   Maximum depth: 263.518837 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 184.989117 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 = 184.989117;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       65.40097
#   Actual altitude:          65.40097
#   Commanded vehicle depth:  184.989117 
#   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 = 19.62;
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 82
#   Segment length 114.745790 meters
#   Minimum depth: 245.833520 meters looking forward 200.000000 meters along route
#   Maximum depth: 263.518837 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 82
#   Segment length 104.775192 meters
#   Minimum depth: 232.442354 meters looking forward 200.000000 meters along route
#   Maximum depth: 260.138825 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 82
#   Segment length 107.505909 meters
#   Minimum depth: 220.427423 meters looking forward 200.000000 meters along route
#   Maximum depth: 241.331896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 82
#   Segment length 111.948487 meters
#   Minimum depth: 215.362235 meters looking forward 200.000000 meters along route
#   Maximum depth: 227.935580 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 89.078748 meters
#   Minimum depth: 209.521090 meters looking forward 200.000000 meters along route
#   Maximum depth: 219.335773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 102.878788 meters
#   Minimum depth: 202.802262 meters looking forward 200.000000 meters along route
#   Maximum depth: 215.362235 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 102.878533 meters
#   Minimum depth: 197.607846 meters looking forward 200.000000 meters along route
#   Maximum depth: 208.705450 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 102.878277 meters
#   Minimum depth: 191.847590 meters looking forward 200.000000 meters along route
#   Maximum depth: 201.836775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 102.878021 meters
#   Minimum depth: 188.623073 meters looking forward 200.000000 meters along route
#   Maximum depth: 197.115342 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 102.877765 meters
#   Minimum depth: 187.070342 meters looking forward 200.000000 meters along route
#   Maximum depth: 191.245329 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 102.877509 meters
#   Minimum depth: 181.763796 meters looking forward 200.000000 meters along route
#   Maximum depth: 189.006608 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 81
#   Segment length 109.650542 meters
#   Minimum depth: 180.713505 meters looking forward 200.000000 meters along route
#   Maximum depth: 185.984214 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 130.713505;
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 80
#   Segment length 140.740083 meters
#   Minimum depth: 180.713505 meters looking forward 200.000000 meters along route
#   Maximum depth: 184.246097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.794012;
longitude = -122.062571;
duration = 281;
# abortOnTimeout    = True; 
initialDepth = 132.702287;
finalDepth = 130.713505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.019146
#   Actual altitude:          52.019146
#   Commanded vehicle depth:  130.713505 
#   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 = 15.61;
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 80
#   Segment length 102.693058 meters
#   Minimum depth: 182.702287 meters looking forward 200.000000 meters along route
#   Maximum depth: 188.955537 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.795124;
longitude = -122.063331;
duration = 205;
initialDepth = 134.469163;
finalDepth = 132.702287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.019146
#   Actual altitude:          52.019146
#   Commanded vehicle depth:  132.702287 
#   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 = 15.61;
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 80
#   Segment length 102.692806 meters
#   Minimum depth: 184.469163 meters looking forward 200.000000 meters along route
#   Maximum depth: 188.955537 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 80
#   Segment length 110.291824 meters
#   Minimum depth: 180.416258 meters looking forward 200.000000 meters along route
#   Maximum depth: 187.146141 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 79
#   Segment length 141.425602 meters
#   Minimum depth: 168.381161 meters looking forward 200.000000 meters along route
#   Maximum depth: 183.006864 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 79
#   Segment length 103.196601 meters
#   Minimum depth: 159.738164 meters looking forward 200.000000 meters along route
#   Maximum depth: 175.739356 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 79
#   Segment length 103.196340 meters
#   Minimum depth: 158.878695 meters looking forward 200.000000 meters along route
#   Maximum depth: 166.710681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 79
#   Segment length 103.196079 meters
#   Minimum depth: 158.613321 meters looking forward 200.000000 meters along route
#   Maximum depth: 159.928007 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 79
#   Segment length 107.005260 meters
#   Minimum depth: 149.098765 meters looking forward 200.000000 meters along route
#   Maximum depth: 159.773528 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 78
#   Segment length 167.784514 meters
#   Minimum depth: 136.623744 meters looking forward 200.000000 meters along route
#   Maximum depth: 152.040815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 78
#   Segment length 105.329371 meters
#   Minimum depth: 133.171154 meters looking forward 200.000000 meters along route
#   Maximum depth: 144.843887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 78
#   Segment length 105.328860 meters
#   Minimum depth: 132.697626 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.983707 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 82.697626;
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 78
#   Segment length 105.328350 meters
#   Minimum depth: 132.697626 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.763371 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.803778;
longitude = -122.071721;
duration = 210;
initialDepth = 84.365980;
finalDepth = 82.697626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.075029
#   Actual altitude:          51.075029
#   Commanded vehicle depth:  82.697626 
#   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 = 15.32;
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 78
#   Segment length 105.586027 meters
#   Minimum depth: 134.365980 meters looking forward 200.000000 meters along route
#   Maximum depth: 136.486513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 78
#   Segment length 108.980868 meters
#   Minimum depth: 130.138305 meters looking forward 200.000000 meters along route
#   Maximum depth: 136.486513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 77
#   Segment length 179.953294 meters
#   Minimum depth: 127.950705 meters looking forward 200.000000 meters along route
#   Maximum depth: 130.575679 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 77.950705;
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 77
#   Segment length 101.457312 meters
#   Minimum depth: 127.950705 meters looking forward 200.000000 meters along route
#   Maximum depth: 129.395642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.806219;
longitude = -122.076426;
duration = 202;
initialDepth = 74.862350;
finalDepth = 77.950705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.185808
#   Actual altitude:          52.185808
#   Commanded vehicle depth:  77.950705 
#   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 77
#   Segment length 103.401934 meters
#   Minimum depth: 124.862350 meters looking forward 200.000000 meters along route
#   Maximum depth: 129.395642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 77
#   Segment length 103.401436 meters
#   Minimum depth: 124.690511 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.361547 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 74.690511;
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 77
#   Segment length 108.924048 meters
#   Minimum depth: 124.690511 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.425652 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.807831;
longitude = -122.079241;
duration = 217;
initialDepth = 81.641933;
finalDepth = 74.690511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.735141
#   Actual altitude:          60.735141
#   Commanded vehicle depth:  74.690511 
#   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 = 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 77
#   Segment length 110.429898 meters
#   Minimum depth: 131.641933 meters looking forward 200.000000 meters along route
#   Maximum depth: 134.251652 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       60.735141
#   Actual altitude:          60.735141
#   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 = 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 77
#   Segment length 102.251992 meters
#   Minimum depth: 131.467131 meters looking forward 200.000000 meters along route
#   Maximum depth: 151.661665 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 85.728153;
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 76
#   Segment length 160.977637 meters
#   Minimum depth: 135.728153 meters looking forward 200.000000 meters along route
#   Maximum depth: 223.003046 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 85.728153 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 = 140.174484;
finalDepth = 85.728153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.054405
#   Actual altitude:          52.054405
#   Commanded vehicle depth:  85.728153 
#   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 = 15.62;
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 76
#   Segment length 101.709782 meters
#   Minimum depth: 190.174484 meters looking forward 200.000000 meters along route
#   Maximum depth: 230.796397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 140.174484 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 = 140.174484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.250205
#   Actual altitude:          83.250205
#   Commanded vehicle depth:  140.174484 
#   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 = 24.98;
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 76
#   Segment length 104.040178 meters
#   Minimum depth: 202.940612 meters looking forward 200.000000 meters along route
#   Maximum depth: 230.796397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       83.250205
#   Actual altitude:          83.250205
#   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 = 24.98;
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 76
#   Segment length 107.829167 meters
#   Minimum depth: 192.694727 meters looking forward 200.000000 meters along route
#   Maximum depth: 230.130847 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 143.280765;
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 75
#   Segment length 164.959602 meters
#   Minimum depth: 193.280765 meters looking forward 200.000000 meters along route
#   Maximum depth: 211.124915 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 143.280765 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 = 329;
# abortOnTimeout    = True; 
initialDepth = 143.280765;
finalDepth = 143.280765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.937977
#   Actual altitude:          59.937977
#   Commanded vehicle depth:  143.280765 
#   Seafloor depth:           -197.883041
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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;
}
# 
#######################################################
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 74
#   Segment length 149.709899 meters
#   Minimum depth: 193.280765 meters looking forward 200.000000 meters along route
#   Maximum depth: 270.472314 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 143.280765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805097;
longitude = -122.086770;
duration = 299;
# abortOnTimeout    = True; 
initialDepth = 178.518874;
finalDepth = 143.280765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.602276
#   Actual altitude:          54.602276
#   Commanded vehicle depth:  143.280765 
#   Seafloor depth:           -197.411560
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.38;
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 74
#   Segment length 102.075200 meters
#   Minimum depth: 228.518874 meters looking forward 200.000000 meters along route
#   Maximum depth: 297.900927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 178.518874 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804823;
longitude = -122.088413;
duration = 204;
initialDepth = 186.152507;
finalDepth = 178.518874;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.387212
#   Actual altitude:          97.387212
#   Commanded vehicle depth:  178.518874 
#   Seafloor depth:           -275.906086
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.22;
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 74
#   Segment length 108.880452 meters
#   Minimum depth: 236.152507 meters looking forward 200.000000 meters along route
#   Maximum depth: 297.900927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 186.152507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804636;
longitude = -122.089534;
duration = 217;
initialDepth = 178.888385;
finalDepth = 186.152507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       108.387878
#   Actual altitude:          100
#   Commanded vehicle depth:  186.152507 
#   Seafloor depth:           -294.540385
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 73
#   Segment length 148.343995 meters
#   Minimum depth: 228.888385 meters looking forward 200.000000 meters along route
#   Maximum depth: 259.702591 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 178.888385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804436;
longitude = -122.090729;
duration = 296;
# abortOnTimeout    = True; 
initialDepth = 175.504317;
finalDepth = 178.888385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       108.387878
#   Actual altitude:          100
#   Commanded vehicle depth:  178.888385 
#   Seafloor depth:           -234.032654
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 73
#   Segment length 101.143921 meters
#   Minimum depth: 225.504317 meters looking forward 200.000000 meters along route
#   Maximum depth: 242.186654 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.504317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803274;
longitude = -122.091550;
duration = 202;
initialDepth = 175.504317;
finalDepth = 175.504317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.956331
#   Actual altitude:          58.956331
#   Commanded vehicle depth:  175.504317 
#   Seafloor depth:           -234.460648
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.69;
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 73
#   Segment length 101.144157 meters
#   Minimum depth: 225.504317 meters looking forward 200.000000 meters along route
#   Maximum depth: 242.186654 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.504317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802481;
longitude = -122.092110;
duration = 202;
initialDepth = 166.346831;
finalDepth = 175.504317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.956331
#   Actual altitude:          58.956331
#   Commanded vehicle depth:  175.504317 
#   Seafloor depth:           -228.179745
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.69;
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 73
#   Segment length 101.698607 meters
#   Minimum depth: 216.346831 meters looking forward 200.000000 meters along route
#   Maximum depth: 235.103252 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 166.346831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801689;
longitude = -122.092671;
duration = 203;
initialDepth = 165.902505;
finalDepth = 166.346831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.109362
#   Actual altitude:          59.109362
#   Commanded vehicle depth:  166.346831 
#   Seafloor depth:           -225.456193
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.73;
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 73
#   Segment length 107.333391 meters
#   Minimum depth: 215.902505 meters looking forward 200.000000 meters along route
#   Maximum depth: 224.269518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 165.902505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800892;
longitude = -122.093234;
duration = 214;
initialDepth = 167.479995;
finalDepth = 165.902505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.109362
#   Actual altitude:          59.109362
#   Commanded vehicle depth:  165.902505 
#   Seafloor depth:           -216.304356
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.73;
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 to get to end of line 72
#   Segment length 131.772149 meters
#   Minimum depth: 217.479995 meters looking forward 200.000000 meters along route
#   Maximum depth: 240.851978 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 167.479995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800050;
longitude = -122.093828;
duration = 263;
# abortOnTimeout    = True; 
initialDepth = 179.380213;
finalDepth = 167.479995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.971218
#   Actual altitude:          56.971218
#   Commanded vehicle depth:  167.479995 
#   Seafloor depth:           -224.451213
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.09;
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 72
#   Segment length 100.767143 meters
#   Minimum depth: 229.380213 meters looking forward 200.000000 meters along route
#   Maximum depth: 255.283370 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 179.380213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798978;
longitude = -122.094463;
duration = 201;
initialDepth = 202.902119;
finalDepth = 179.380213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.853055
#   Actual altitude:          61.853055
#   Commanded vehicle depth:  179.380213 
#   Seafloor depth:           -241.233268
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 71
#   Segment length 183.819339 meters
#   Minimum depth: 252.902119 meters looking forward 200.000000 meters along route
#   Maximum depth: 284.232615 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 202.902119 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798158;
longitude = -122.094949;
duration = 367;
# abortOnTimeout    = True; 
initialDepth = 219.311058;
finalDepth = 202.902119;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.853055
#   Actual altitude:          61.853055
#   Commanded vehicle depth:  202.902119 
#   Seafloor depth:           -255.927002
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 71
#   Segment length 105.040146 meters
#   Minimum depth: 269.311058 meters looking forward 200.000000 meters along route
#   Maximum depth: 305.023208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 219.311058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796877;
longitude = -122.096256;
duration = 210;
initialDepth = 238.902270;
finalDepth = 219.311058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.379546
#   Actual altitude:          65.379546
#   Commanded vehicle depth:  219.311058 
#   Seafloor depth:           -284.690604
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.61;
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 70
#   Segment length 135.862333 meters
#   Minimum depth: 288.902270 meters looking forward 200.000000 meters along route
#   Maximum depth: 315.884405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 238.902270 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796145;
longitude = -122.097002;
duration = 271;
# abortOnTimeout    = True; 
initialDepth = 248.967582;
finalDepth = 238.902270;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.948479
#   Actual altitude:          69.948479
#   Commanded vehicle depth:  238.90227 
#   Seafloor depth:           -308.850749
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.98;
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 70
#   Segment length 101.896992 meters
#   Minimum depth: 298.967582 meters looking forward 200.000000 meters along route
#   Maximum depth: 315.884405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 248.967582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795907;
longitude = -122.098496;
duration = 203;
initialDepth = 238.689714;
finalDepth = 248.967582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.948479
#   Actual altitude:          69.948479
#   Commanded vehicle depth:  248.967582 
#   Seafloor depth:           -314.519410
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.98;
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 70
#   Segment length 105.293775 meters
#   Minimum depth: 288.689714 meters looking forward 200.000000 meters along route
#   Maximum depth: 313.062614 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 238.689714 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795729;
longitude = -122.099617;
duration = 210;
initialDepth = 238.689714;
finalDepth = 238.689714;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.551828
#   Actual altitude:          65.551828
#   Commanded vehicle depth:  238.689714 
#   Seafloor depth:           -296.562748
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 69
#   Segment length 131.034136 meters
#   Minimum depth: 288.689714 meters looking forward 200.000000 meters along route
#   Maximum depth: 293.698080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 238.689714 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795544;
longitude = -122.100774;
duration = 262;
# abortOnTimeout    = True; 
initialDepth = 239.278070;
finalDepth = 238.689714;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.873034
#   Actual altitude:          57.873034
#   Commanded vehicle depth:  238.689714 
#   Seafloor depth:           -289.004761
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.36;
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 69
#   Segment length 100.727324 meters
#   Minimum depth: 289.278070 meters looking forward 200.000000 meters along route
#   Maximum depth: 297.424986 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 239.278070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795124;
longitude = -122.102147;
duration = 201;
initialDepth = 242.977052;
finalDepth = 239.278070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.116087
#   Actual altitude:          53.116087
#   Commanded vehicle depth:  239.27807 
#   Seafloor depth:           -292.394157
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 69
#   Segment length 106.967452 meters
#   Minimum depth: 292.977052 meters looking forward 200.000000 meters along route
#   Maximum depth: 304.288834 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 242.977052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794800;
longitude = -122.103202;
duration = 213;
initialDepth = 249.160862;
finalDepth = 242.977052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.406753
#   Actual altitude:          54.406753
#   Commanded vehicle depth:  242.977052 
#   Seafloor depth:           -297.383805
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 69
#   Segment length 110.533450 meters
#   Minimum depth: 299.160862 meters looking forward 200.000000 meters along route
#   Maximum depth: 309.218601 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 249.160862 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794457;
longitude = -122.104322;
duration = 221;
initialDepth = 253.765011;
finalDepth = 249.160862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.763334
#   Actual altitude:          54.763334
#   Commanded vehicle depth:  249.160862 
#   Seafloor depth:           -303.924196
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 68
#   Segment length 81.088337 meters
#   Minimum depth: 303.765011 meters looking forward 200.000000 meters along route
#   Maximum depth: 323.094859 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 253.765011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794102;
longitude = -122.105480;
duration = 162;
# abortOnTimeout    = True; 
initialDepth = 257.956209;
finalDepth = 253.765011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.336511
#   Actual altitude:          55.336511
#   Commanded vehicle depth:  253.765011 
#   Seafloor depth:           -309.101522
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.60;
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 68
#   Segment length 101.360440 meters
#   Minimum depth: 307.956209 meters looking forward 200.000000 meters along route
#   Maximum depth: 341.328352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 257.956209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793381;
longitude = -122.105330;
duration = 202;
initialDepth = 279.554671;
finalDepth = 257.956209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.877786
#   Actual altitude:          65.877786
#   Commanded vehicle depth:  257.956209 
#   Seafloor depth:           -323.833995
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.76;
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 to get to end of line 67
#   Segment length 135.340851 meters
#   Minimum depth: 329.554671 meters looking forward 200.000000 meters along route
#   Maximum depth: 342.219167 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 279.554671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792480;
longitude = -122.105143;
duration = 270;
# abortOnTimeout    = True; 
initialDepth = 276.426656;
finalDepth = 279.554671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.877786
#   Actual altitude:          65.877786
#   Commanded vehicle depth:  279.554671 
#   Seafloor depth:           -341.533813
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.76;
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 67
#   Segment length 107.547157 meters
#   Minimum depth: 326.426656 meters looking forward 200.000000 meters along route
#   Maximum depth: 339.171718 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 276.426656 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792961;
longitude = -122.103749;
duration = 215;
initialDepth = 271.236867;
finalDepth = 276.426656;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.979142
#   Actual altitude:          61.979142
#   Commanded vehicle depth:  276.426656 
#   Seafloor depth:           -331.996982
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.59;
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 67
#   Segment length 108.755114 meters
#   Minimum depth: 321.236867 meters looking forward 200.000000 meters along route
#   Maximum depth: 330.954317 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 271.236867 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793343;
longitude = -122.102641;
duration = 217;
initialDepth = 268.371246;
finalDepth = 271.236867;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.570326
#   Actual altitude:          55.570326
#   Commanded vehicle depth:  271.236867 
#   Seafloor depth:           -326.159983
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 67
#   Segment length 105.129528 meters
#   Minimum depth: 318.371246 meters looking forward 200.000000 meters along route
#   Maximum depth: 324.431498 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.371246 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793729;
longitude = -122.101521;
duration = 210;
initialDepth = 268.435753;
finalDepth = 268.371246;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.923116
#   Actual altitude:          54.923116
#   Commanded vehicle depth:  268.371246 
#   Seafloor depth:           -321.720971
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 66
#   Segment length 155.923333 meters
#   Minimum depth: 318.435753 meters looking forward 200.000000 meters along route
#   Maximum depth: 337.685807 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.435753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794102;
longitude = -122.100438;
duration = 311;
# abortOnTimeout    = True; 
initialDepth = 275.000096;
finalDepth = 268.435753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.349725
#   Actual altitude:          53.349725
#   Commanded vehicle depth:  268.435753 
#   Seafloor depth:           -318.963338
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 66
#   Segment length 101.688884 meters
#   Minimum depth: 325.000096 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.260113 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 275.000096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794361;
longitude = -122.098720;
duration = 203;
initialDepth = 280.422033;
finalDepth = 275.000096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.320088
#   Actual altitude:          65.320088
#   Commanded vehicle depth:  275.000096 
#   Seafloor depth:           -340.320184
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.60;
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 66
#   Segment length 105.078308 meters
#   Minimum depth: 330.422033 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.260113 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 280.422033 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794529;
longitude = -122.097600;
duration = 210;
initialDepth = 263.807142;
finalDepth = 280.422033;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       80.053884
#   Actual altitude:          80.053884
#   Commanded vehicle depth:  280.422033 
#   Seafloor depth:           -360.475917
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.02;
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 65
#   Segment length 87.041635 meters
#   Minimum depth: 313.807142 meters looking forward 200.000000 meters along route
#   Maximum depth: 360.475917 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 263.807142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794703;
longitude = -122.096442;
duration = 174;
# abortOnTimeout    = True; 
initialDepth = 258.160004;
finalDepth = 263.807142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.053884
#   Actual altitude:          80.053884
#   Commanded vehicle depth:  263.807142 
#   Seafloor depth:           -330.400350
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.02;
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 65
#   Segment length 109.747704 meters
#   Minimum depth: 308.160004 meters looking forward 200.000000 meters along route
#   Maximum depth: 330.400350 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 258.160004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795075;
longitude = -122.095583;
duration = 219;
initialDepth = 245.282772;
finalDepth = 258.160004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       66.593208
#   Actual altitude:          66.593208
#   Commanded vehicle depth:  258.160004 
#   Seafloor depth:           -313.740936
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.98;
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 to get to end of line 64
#   Segment length 158.498388 meters
#   Minimum depth: 295.282772 meters looking forward 200.000000 meters along route
#   Maximum depth: 309.479208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 245.282772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795544;
longitude = -122.094500;
duration = 316;
# abortOnTimeout    = True; 
initialDepth = 229.001584;
finalDepth = 245.282772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.312728
#   Actual altitude:          62.312728
#   Commanded vehicle depth:  245.282772 
#   Seafloor depth:           -307.595500
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.69;
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 100.862345 meters
#   Minimum depth: 279.001584 meters looking forward 200.000000 meters along route
#   Maximum depth: 304.111319 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 229.001584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796811;
longitude = -122.093679;
duration = 201;
initialDepth = 206.580306;
finalDepth = 229.001584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       66.755001
#   Actual altitude:          66.755001
#   Commanded vehicle depth:  229.001584 
#   Seafloor depth:           -295.756585
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.03;
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 to get to end of line 63
#   Segment length 120.193861 meters
#   Minimum depth: 256.580306 meters looking forward 200.000000 meters along route
#   Maximum depth: 290.941057 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 206.580306 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797617;
longitude = -122.093156;
duration = 240;
# abortOnTimeout    = True; 
initialDepth = 191.858974;
finalDepth = 206.580306;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.389787
#   Actual altitude:          70.389787
#   Commanded vehicle depth:  206.580306 
#   Seafloor depth:           -276.970093
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.12;
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 63
#   Segment length 109.588390 meters
#   Minimum depth: 241.858974 meters looking forward 200.000000 meters along route
#   Maximum depth: 269.460977 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.858974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798638;
longitude = -122.092707;
duration = 219;
initialDepth = 191.858974;
finalDepth = 191.858974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       70.389787
#   Actual altitude:          70.389787
#   Commanded vehicle depth:  191.858974 
#   Seafloor depth:           -255.323537
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.12;
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 to get to end of line 62
#   Segment length 124.263077 meters
#   Minimum depth: 241.858974 meters looking forward 200.000000 meters along route
#   Maximum depth: 253.248037 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.858974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799570;
longitude = -122.092297;
duration = 248;
# abortOnTimeout    = True; 
initialDepth = 195.426698;
finalDepth = 191.858974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.464563
#   Actual altitude:          63.464563
#   Commanded vehicle depth:  191.858974 
#   Seafloor depth:           -242.558675
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.04;
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 62
#   Segment length 104.846676 meters
#   Minimum depth: 245.426698 meters looking forward 200.000000 meters along route
#   Maximum depth: 306.187527 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 195.426698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800531;
longitude = -122.091582;
duration = 209;
initialDepth = 205.272882;
finalDepth = 195.426698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.359583
#   Actual altitude:          59.359583
#   Commanded vehicle depth:  195.426698 
#   Seafloor depth:           -254.786281
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.81;
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 62
#   Segment length 104.846406 meters
#   Minimum depth: 255.272882 meters looking forward 200.000000 meters along route
#   Maximum depth: 323.676532 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 205.272882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801342;
longitude = -122.090979;
duration = 209;
initialDepth = 260.396047;
finalDepth = 205.272882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       102.406559
#   Actual altitude:          100
#   Commanded vehicle depth:  205.272882 
#   Seafloor depth:           -307.679441
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 62
#   Segment length 100.962952 meters
#   Minimum depth: 310.396047 meters looking forward 200.000000 meters along route
#   Maximum depth: 329.049328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 260.396047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802153;
longitude = -122.090376;
duration = 201;
initialDepth = 264.656120;
finalDepth = 260.396047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       102.406559
#   Actual altitude:          100
#   Commanded vehicle depth:  260.396047 
#   Seafloor depth:           -315.692037
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 61
#   Segment length 78.016586 meters
#   Minimum depth: 314.656120 meters looking forward 200.000000 meters along route
#   Maximum depth: 359.047587 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 264.656120 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802934;
longitude = -122.089795;
duration = 156;
# abortOnTimeout    = True; 
initialDepth = 268.382348;
finalDepth = 264.656120;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.68588
#   Actual altitude:          66.68588
#   Commanded vehicle depth:  264.65612 
#   Seafloor depth:           -331.342000
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.01;
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 61
#   Segment length 103.529474 meters
#   Minimum depth: 318.382348 meters looking forward 200.000000 meters along route
#   Maximum depth: 359.047587 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.382348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803145;
longitude = -122.088961;
duration = 207;
initialDepth = 200.279869;
finalDepth = 268.382348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.570218
#   Actual altitude:          90.570218
#   Commanded vehicle depth:  268.382348 
#   Seafloor depth:           -358.952566
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 61
#   Segment length 108.228912 meters
#   Minimum depth: 250.279869 meters looking forward 200.000000 meters along route
#   Maximum depth: 357.645465 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 200.279869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803424;
longitude = -122.087853;
duration = 216;
initialDepth = 168.922939;
finalDepth = 200.279869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       116.184464
#   Actual altitude:          100
#   Commanded vehicle depth:  200.279869 
#   Seafloor depth:           -316.464333
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 60
#   Segment length 172.002643 meters
#   Minimum depth: 218.922939 meters looking forward 200.000000 meters along route
#   Maximum depth: 260.420597 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.922939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803715;
longitude = -122.086696;
duration = 344;
# abortOnTimeout    = True; 
initialDepth = 168.922939;
finalDepth = 168.922939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       116.184464
#   Actual altitude:          100
#   Commanded vehicle depth:  168.922939 
#   Seafloor depth:           -248.957336
# 
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 = 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;
}
# 
#######################################################
# 
# 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 134.639540 meters
#   Minimum depth: 218.922939 meters looking forward 200.000000 meters along route
#   Maximum depth: 284.931315 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.922939 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 = 186.151629;
finalDepth = 168.922939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.034397
#   Actual altitude:          80.034397
#   Commanded vehicle depth:  168.922939 
#   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 = 24.01;
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 101.011000 meters
#   Minimum depth: 236.151629 meters looking forward 200.000000 meters along route
#   Maximum depth: 292.071550 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 186.151629 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 = 230.448100;
finalDepth = 186.151629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       101.505349
#   Actual altitude:          100
#   Commanded vehicle depth:  186.151629 
#   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 = 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 59
#   Segment length 102.537916 meters
#   Minimum depth: 280.448100 meters looking forward 200.000000 meters along route
#   Maximum depth: 298.054828 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.806299;
longitude = -122.083514;
duration = 205;
initialDepth = 184.243981;
finalDepth = 230.448100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       101.505349
#   Actual altitude:          100
#   Commanded vehicle depth:  230.4481 
#   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 = 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 59
#   Segment length 103.686047 meters
#   Minimum depth: 234.243981 meters looking forward 200.000000 meters along route
#   Maximum depth: 298.054828 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 58
#   Segment length 96.097601 meters
#   Minimum depth: 215.327282 meters looking forward 200.000000 meters along route
#   Maximum depth: 287.987743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 58
#   Segment length 100.309925 meters
#   Minimum depth: 212.506379 meters looking forward 200.000000 meters along route
#   Maximum depth: 227.164051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 162.506379;
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 58
#   Segment length 100.310391 meters
#   Minimum depth: 212.506379 meters looking forward 200.000000 meters along route
#   Maximum depth: 223.304210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.806702;
longitude = -122.080347;
duration = 200;
initialDepth = 151.533628;
finalDepth = 162.506379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.82646
#   Actual altitude:          56.82646
#   Commanded vehicle depth:  162.506379 
#   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 = 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 58
#   Segment length 100.310857 meters
#   Minimum depth: 201.533628 meters looking forward 200.000000 meters along route
#   Maximum depth: 223.304210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 151.533628;
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 58
#   Segment length 100.311322 meters
#   Minimum depth: 201.533628 meters looking forward 200.000000 meters along route
#   Maximum depth: 216.708462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.805610;
longitude = -122.078555;
duration = 200;
initialDepth = 145.644910;
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:           -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 58
#   Segment length 104.192812 meters
#   Minimum depth: 195.644910 meters looking forward 200.000000 meters along route
#   Maximum depth: 216.708462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       56.874085
#   Actual altitude:          56.874085
#   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 = 17.06;
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 58
#   Segment length 104.810844 meters
#   Minimum depth: 169.110986 meters looking forward 200.000000 meters along route
#   Maximum depth: 200.387348 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 57
#   Segment length 109.248624 meters
#   Minimum depth: 165.895151 meters looking forward 200.000000 meters along route
#   Maximum depth: 189.526304 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 115.895151;
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 57
#   Segment length 105.365631 meters
#   Minimum depth: 165.895151 meters looking forward 200.000000 meters along route
#   Maximum depth: 205.487004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.803413;
longitude = -122.074746;
duration = 210;
initialDepth = 126.242358;
finalDepth = 115.895151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.456057
#   Actual altitude:          64.456057
#   Commanded vehicle depth:  115.895151 
#   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 = 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 57
#   Segment length 105.433261 meters
#   Minimum depth: 176.242358 meters looking forward 200.000000 meters along route
#   Maximum depth: 205.487004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 57
#   Segment length 105.299532 meters
#   Minimum depth: 171.230932 meters looking forward 200.000000 meters along route
#   Maximum depth: 196.884365 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 121.230932;
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 57
#   Segment length 105.898779 meters
#   Minimum depth: 171.230932 meters looking forward 200.000000 meters along route
#   Maximum depth: 179.246270 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.801929;
longitude = -122.071721;
duration = 211;
initialDepth = 125.758862;
finalDepth = 121.230932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.989064
#   Actual altitude:          54.989064
#   Commanded vehicle depth:  121.230932 
#   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 57
#   Segment length 108.716855 meters
#   Minimum depth: 175.758862 meters looking forward 200.000000 meters along route
#   Maximum depth: 211.555296 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 125.758862 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 = 130.030868;
finalDepth = 125.758862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.467864
#   Actual altitude:          53.467864
#   Commanded vehicle depth:  125.758862 
#   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 = 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 to get to end of line 56
#   Segment length 95.825143 meters
#   Minimum depth: 180.030868 meters looking forward 200.000000 meters along route
#   Maximum depth: 267.718342 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 130.030868 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 = 162.303627;
finalDepth = 130.030868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.272759
#   Actual altitude:          82.272759
#   Commanded vehicle depth:  130.030868 
#   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 = 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 56
#   Segment length 103.437703 meters
#   Minimum depth: 212.303627 meters looking forward 200.000000 meters along route
#   Maximum depth: 267.718342 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 162.303627 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 = 162.303627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.131838
#   Actual altitude:          98.131838
#   Commanded vehicle depth:  162.303627 
#   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 = 29.44;
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 56
#   Segment length 103.437968 meters
#   Minimum depth: 195.660706 meters looking forward 200.000000 meters along route
#   Maximum depth: 259.102172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       98.131838
#   Actual altitude:          98.131838
#   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 = 29.44;
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 56
#   Segment length 103.438234 meters
#   Minimum depth: 195.093939 meters looking forward 200.000000 meters along route
#   Maximum depth: 216.733136 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 145.093939;
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 56
#   Segment length 107.278114 meters
#   Minimum depth: 195.093939 meters looking forward 200.000000 meters along route
#   Maximum depth: 284.358787 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.797737;
longitude = -122.067422;
duration = 214;
initialDepth = 189.222222;
finalDepth = 145.093939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       69.546648
#   Actual altitude:          69.546648
#   Commanded vehicle depth:  145.093939 
#   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 = 20.86;
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 to get to end of line 55
#   Segment length 133.163115 meters
#   Minimum depth: 239.222222 meters looking forward 200.000000 meters along route
#   Maximum depth: 288.690065 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 55
#   Segment length 102.732675 meters
#   Minimum depth: 235.255578 meters looking forward 200.000000 meters along route
#   Maximum depth: 281.348509 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 185.255578;
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 55
#   Segment length 102.732926 meters
#   Minimum depth: 235.255578 meters looking forward 200.000000 meters along route
#   Maximum depth: 253.915292 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.795034;
longitude = -122.065553;
duration = 205;
initialDepth = 176.688700;
finalDepth = 185.255578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.556234
#   Actual altitude:          65.556234
#   Commanded vehicle depth:  185.255578 
#   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 = 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 55
#   Segment length 110.366605 meters
#   Minimum depth: 226.688700 meters looking forward 200.000000 meters along route
#   Maximum depth: 253.630358 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 54
#   Segment length 133.726981 meters
#   Minimum depth: 217.429044 meters looking forward 200.000000 meters along route
#   Maximum depth: 233.478999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 54
#   Segment length 100.337402 meters
#   Minimum depth: 215.028594 meters looking forward 200.000000 meters along route
#   Maximum depth: 225.355054 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 54
#   Segment length 100.337657 meters
#   Minimum depth: 215.013647 meters looking forward 200.000000 meters along route
#   Maximum depth: 218.482992 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 54
#   Segment length 100.337911 meters
#   Minimum depth: 213.336713 meters looking forward 200.000000 meters along route
#   Maximum depth: 216.797557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 54
#   Segment length 100.338166 meters
#   Minimum depth: 213.262704 meters looking forward 200.000000 meters along route
#   Maximum depth: 217.931974 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 163.481464;
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 54
#   Segment length 102.927680 meters
#   Minimum depth: 213.481464 meters looking forward 200.000000 meters along route
#   Maximum depth: 222.107282 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 163.481464 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 = 168.301318;
finalDepth = 163.481464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.523123
#   Actual altitude:          54.523123
#   Commanded vehicle depth:  163.481464 
#   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 = 16.36;
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 54
#   Segment length 103.776869 meters
#   Minimum depth: 218.301318 meters looking forward 200.000000 meters along route
#   Maximum depth: 229.653688 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.301318 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 = 172.765344;
finalDepth = 168.301318;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.523123
#   Actual altitude:          54.523123
#   Commanded vehicle depth:  168.301318 
#   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 = 16.36;
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 54
#   Segment length 107.626396 meters
#   Minimum depth: 222.765344 meters looking forward 200.000000 meters along route
#   Maximum depth: 239.380210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 172.765344 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 = 184.479055;
finalDepth = 172.765344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.669833
#   Actual altitude:          57.669833
#   Commanded vehicle depth:  172.765344 
#   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 = 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 53
#   Segment length 136.712681 meters
#   Minimum depth: 234.479055 meters looking forward 200.000000 meters along route
#   Maximum depth: 245.827503 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 184.479055 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 = 188.269938;
finalDepth = 184.479055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.669833
#   Actual altitude:          57.669833
#   Commanded vehicle depth:  184.479055 
#   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 = 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 53
#   Segment length 105.020578 meters
#   Minimum depth: 238.269938 meters looking forward 200.000000 meters along route
#   Maximum depth: 255.574381 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.785812;
longitude = -122.058613;
duration = 210;
initialDepth = 195.920875;
finalDepth = 188.269938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.299831
#   Actual altitude:          57.299831
#   Commanded vehicle depth:  188.269938 
#   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 = 17.19;
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 53
#   Segment length 104.891642 meters
#   Minimum depth: 245.920875 meters looking forward 200.000000 meters along route
#   Maximum depth: 260.311503 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 195.920875 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 = 207.825330;
finalDepth = 195.920875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.981561
#   Actual altitude:          58.981561
#   Commanded vehicle depth:  195.920875 
#   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 = 17.69;
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 52
#   Segment length 117.600576 meters
#   Minimum depth: 257.825330 meters looking forward 200.000000 meters along route
#   Maximum depth: 269.895698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 207.825330 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 = 212.007327;
finalDepth = 207.825330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.981561
#   Actual altitude:          58.981561
#   Commanded vehicle depth:  207.82533 
#   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 = 17.69;
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 52
#   Segment length 105.873871 meters
#   Minimum depth: 262.007327 meters looking forward 200.000000 meters along route
#   Maximum depth: 284.303021 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 212.007327 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 = 221.843500;
finalDepth = 212.007327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.559854
#   Actual altitude:          58.559854
#   Commanded vehicle depth:  212.007327 
#   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 = 17.57;
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 52
#   Segment length 100.043003 meters
#   Minimum depth: 271.843500 meters looking forward 200.000000 meters along route
#   Maximum depth: 305.944874 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 221.843500 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 = 233.161978;
finalDepth = 221.843500;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.278395
#   Actual altitude:          62.278395
#   Commanded vehicle depth:  221.8435 
#   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 = 18.68;
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 51
#   Segment length 76.893923 meters
#   Minimum depth: 283.161978 meters looking forward 200.000000 meters along route
#   Maximum depth: 316.142777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 233.161978 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 = 252.290277;
finalDepth = 233.161978;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.633356
#   Actual altitude:          72.633356
#   Commanded vehicle depth:  233.161978 
#   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 = 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 51
#   Segment length 100.237102 meters
#   Minimum depth: 302.290277 meters looking forward 200.000000 meters along route
#   Maximum depth: 329.911891 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.781335;
longitude = -122.055014;
duration = 200;
initialDepth = 270.027737;
finalDepth = 252.290277;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.633356
#   Actual altitude:          72.633356
#   Commanded vehicle depth:  252.290277 
#   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 = 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 51
#   Segment length 103.591281 meters
#   Minimum depth: 320.027737 meters looking forward 200.000000 meters along route
#   Maximum depth: 347.092779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 270.027737 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 = 270.027737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       67.359615
#   Actual altitude:          67.359615
#   Commanded vehicle depth:  270.027737 
#   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 = 20.21;
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;
}
# 
#######################################################
# 
# 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 50
#   Segment length 96.738402 meters
#   Minimum depth: 333.659561 meters looking forward 200.000000 meters along route
#   Maximum depth: 347.092779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 50
#   Segment length 104.461001 meters
#   Minimum depth: 324.306854 meters looking forward 200.000000 meters along route
#   Maximum depth: 346.320350 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 50
#   Segment length 107.252332 meters
#   Minimum depth: 315.879847 meters looking forward 200.000000 meters along route
#   Maximum depth: 329.325949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 50
#   Segment length 101.668815 meters
#   Minimum depth: 308.895557 meters looking forward 200.000000 meters along route
#   Maximum depth: 323.967579 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 258.895557;
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 50
#   Segment length 108.372894 meters
#   Minimum depth: 308.895557 meters looking forward 200.000000 meters along route
#   Maximum depth: 317.656050 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.782687;
longitude = -122.057511;
duration = 216;
initialDepth = 261.814786;
finalDepth = 258.895557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.669697
#   Actual altitude:          57.669697
#   Commanded vehicle depth:  258.895557 
#   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 49
#   Segment length 164.167762 meters
#   Minimum depth: 311.814786 meters looking forward 200.000000 meters along route
#   Maximum depth: 334.550705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.783528;
longitude = -122.058128;
duration = 328;
# abortOnTimeout    = True; 
initialDepth = 246.223618;
finalDepth = 261.814786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.523442
#   Actual altitude:          53.523442
#   Commanded vehicle depth:  261.814786 
#   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 = 16.06;
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 49
#   Segment length 103.190760 meters
#   Minimum depth: 296.223618 meters looking forward 200.000000 meters along route
#   Maximum depth: 334.550705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 49
#   Segment length 100.964655 meters
#   Minimum depth: 293.606277 meters looking forward 200.000000 meters along route
#   Maximum depth: 319.850462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 48
#   Segment length 153.992541 meters
#   Minimum depth: 277.910562 meters looking forward 200.000000 meters along route
#   Maximum depth: 305.574101 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 48
#   Segment length 103.972387 meters
#   Minimum depth: 269.744187 meters looking forward 200.000000 meters along route
#   Maximum depth: 290.585599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 48
#   Segment length 103.972111 meters
#   Minimum depth: 259.783673 meters looking forward 200.000000 meters along route
#   Maximum depth: 282.626689 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 209.783673;
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 48
#   Segment length 103.971836 meters
#   Minimum depth: 259.783673 meters looking forward 200.000000 meters along route
#   Maximum depth: 289.572925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.788545;
longitude = -122.063259;
duration = 207;
initialDepth = 230.669346;
finalDepth = 209.783673;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.075297
#   Actual altitude:          71.075297
#   Commanded vehicle depth:  209.783673 
#   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 = 21.32;
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 48
#   Segment length 106.137184 meters
#   Minimum depth: 280.669346 meters looking forward 200.000000 meters along route
#   Maximum depth: 313.833057 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.789356;
longitude = -122.063843;
duration = 212;
initialDepth = 225.864631;
finalDepth = 230.669346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.075297
#   Actual altitude:          71.075297
#   Commanded vehicle depth:  230.669346 
#   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 = 21.32;
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 48
#   Segment length 101.805660 meters
#   Minimum depth: 275.864631 meters looking forward 200.000000 meters along route
#   Maximum depth: 313.833057 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 225.864631;
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 48
#   Segment length 103.971008 meters
#   Minimum depth: 275.864631 meters looking forward 200.000000 meters along route
#   Maximum depth: 297.043532 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.790978;
longitude = -122.065010;
duration = 207;
initialDepth = 230.770238;
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:           -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 48
#   Segment length 100.105814 meters
#   Minimum depth: 280.770238 meters looking forward 200.000000 meters along route
#   Maximum depth: 310.291119 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 230.770238 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 = 252.471652;
finalDepth = 230.770238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.726003
#   Actual altitude:          67.726003
#   Commanded vehicle depth:  230.770238 
#   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 = 20.32;
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 to get to end of line 47
#   Segment length 129.420995 meters
#   Minimum depth: 302.471652 meters looking forward 200.000000 meters along route
#   Maximum depth: 346.437912 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 252.471652 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 = 255.444447;
finalDepth = 252.471652;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.726003
#   Actual altitude:          67.726003
#   Commanded vehicle depth:  252.471652 
#   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 = 20.32;
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 47
#   Segment length 102.764100 meters
#   Minimum depth: 305.444447 meters looking forward 200.000000 meters along route
#   Maximum depth: 366.330832 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.793592;
longitude = -122.066857;
duration = 205;
initialDepth = 245.592479;
finalDepth = 255.444447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.712268
#   Actual altitude:          98.712268
#   Commanded vehicle depth:  255.444447 
#   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 = 29.61;
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 47
#   Segment length 102.763847 meters
#   Minimum depth: 295.592479 meters looking forward 200.000000 meters along route
#   Maximum depth: 366.330832 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 245.592479;
finalDepth = 245.592479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.712268
#   Actual altitude:          98.712268
#   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 = 29.61;
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 47
#   Segment length 106.581199 meters
#   Minimum depth: 295.592479 meters looking forward 200.000000 meters along route
#   Maximum depth: 379.914336 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.795214;
longitude = -122.067969;
duration = 213;
initialDepth = 216.030024;
finalDepth = 245.592479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       81.690873
#   Actual altitude:          81.690873
#   Commanded vehicle depth:  245.592479 
#   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 = 24.51;
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 46
#   Segment length 167.721551 meters
#   Minimum depth: 266.030024 meters looking forward 200.000000 meters along route
#   Maximum depth: 379.914336 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 46
#   Segment length 100.581184 meters
#   Minimum depth: 252.152232 meters looking forward 200.000000 meters along route
#   Maximum depth: 317.829450 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 202.152232;
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 46
#   Segment length 100.580929 meters
#   Minimum depth: 252.152232 meters looking forward 200.000000 meters along route
#   Maximum depth: 344.832251 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.798154;
longitude = -122.070040;
duration = 201;
initialDepth = 246.248851;
finalDepth = 202.152232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.586209
#   Actual altitude:          87.586209
#   Commanded vehicle depth:  202.152232 
#   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 = 26.28;
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 46
#   Segment length 107.305915 meters
#   Minimum depth: 296.248851 meters looking forward 200.000000 meters along route
#   Maximum depth: 361.286242 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 246.248851 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 = 246.248851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       101.822805
#   Actual altitude:          100
#   Commanded vehicle depth:  246.248851 
#   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 = 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 45
#   Segment length 80.852833 meters
#   Minimum depth: 272.260989 meters looking forward 200.000000 meters along route
#   Maximum depth: 361.286242 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       101.822805
#   Actual altitude:          100
#   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 = 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 45
#   Segment length 104.606459 meters
#   Minimum depth: 258.605192 meters looking forward 200.000000 meters along route
#   Maximum depth: 321.180350 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 208.605192;
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 45
#   Segment length 106.546442 meters
#   Minimum depth: 258.605192 meters looking forward 200.000000 meters along route
#   Maximum depth: 294.573432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.800676;
longitude = -122.072953;
duration = 213;
initialDepth = 217.051587;
finalDepth = 208.605192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.907406
#   Actual altitude:          66.907406
#   Commanded vehicle depth:  208.605192 
#   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 45
#   Segment length 106.545917 meters
#   Minimum depth: 267.051587 meters looking forward 200.000000 meters along route
#   Maximum depth: 317.041335 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 217.051587 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 = 217.051587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.403981
#   Actual altitude:          79.403981
#   Commanded vehicle depth:  217.051587 
#   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 = 23.82;
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 45
#   Segment length 111.396158 meters
#   Minimum depth: 258.883670 meters looking forward 200.000000 meters along route
#   Maximum depth: 317.041335 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 208.883670;
finalDepth = 208.883670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.403981
#   Actual altitude:          79.403981
#   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 = 23.82;
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 45
#   Segment length 105.690144 meters
#   Minimum depth: 258.883670 meters looking forward 200.000000 meters along route
#   Maximum depth: 305.244917 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.802243;
longitude = -122.076024;
duration = 211;
initialDepth = 219.930133;
finalDepth = 208.883670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       73.923339
#   Actual altitude:          73.923339
#   Commanded vehicle depth:  208.88367 
#   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 44
#   Segment length 109.844493 meters
#   Minimum depth: 269.930133 meters looking forward 200.000000 meters along route
#   Maximum depth: 316.387272 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 219.930133 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 = 240.363346;
finalDepth = 219.930133;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.361897
#   Actual altitude:          85.361897
#   Commanded vehicle depth:  219.930133 
#   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 = 25.61;
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 44
#   Segment length 101.443808 meters
#   Minimum depth: 290.363346 meters looking forward 200.000000 meters along route
#   Maximum depth: 316.387272 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.803363;
longitude = -122.077994;
duration = 202;
initialDepth = 245.792121;
finalDepth = 240.363346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.361897
#   Actual altitude:          85.361897
#   Commanded vehicle depth:  240.363346 
#   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 = 25.61;
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 44
#   Segment length 102.818659 meters
#   Minimum depth: 295.792121 meters looking forward 200.000000 meters along route
#   Maximum depth: 336.000924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.803926;
longitude = -122.078891;
duration = 205;
initialDepth = 264.318268;
finalDepth = 245.792121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.89196
#   Actual altitude:          75.89196
#   Commanded vehicle depth:  245.792121 
#   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 = 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 44
#   Segment length 100.067535 meters
#   Minimum depth: 314.318268 meters looking forward 200.000000 meters along route
#   Maximum depth: 344.174053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 264.318268 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 = 264.318268;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.900971
#   Actual altitude:          71.900971
#   Commanded vehicle depth:  264.318268 
#   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 = 21.57;
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 44
#   Segment length 105.689648 meters
#   Minimum depth: 319.276339 meters looking forward 200.000000 meters along route
#   Maximum depth: 344.174053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 269.276339;
finalDepth = 269.276339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       71.900971
#   Actual altitude:          71.900971
#   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 = 21.57;
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 to get to end of line 43
#   Segment length 145.108715 meters
#   Minimum depth: 319.276339 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.618358 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.805638;
longitude = -122.081617;
duration = 290;
# abortOnTimeout    = True; 
initialDepth = 280.554798;
finalDepth = 269.276339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.421429
#   Actual altitude:          67.421429
#   Commanded vehicle depth:  269.276339 
#   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 43
#   Segment length 100.475298 meters
#   Minimum depth: 330.554798 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.618358 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 43
#   Segment length 108.124098 meters
#   Minimum depth: 296.911818 meters looking forward 200.000000 meters along route
#   Maximum depth: 357.435686 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 231.093347;
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 42
#   Segment length 86.076231 meters
#   Minimum depth: 281.093347 meters looking forward 200.000000 meters along route
#   Maximum depth: 330.554798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.093347 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 = 172;
# abortOnTimeout    = True; 
initialDepth = 231.093347;
finalDepth = 231.093347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.996293
#   Actual altitude:          82.996293
#   Commanded vehicle depth:  231.093347 
#   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 42
#   Segment length 101.689257 meters
#   Minimum depth: 281.093347 meters looking forward 200.000000 meters along route
#   Maximum depth: 335.481737 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.093347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802964;
longitude = -122.085179;
duration = 203;
initialDepth = 231.902071;
finalDepth = 231.093347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.332907
#   Actual altitude:          62.332907
#   Commanded vehicle depth:  231.093347 
#   Seafloor depth:           -285.367736
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 41
#   Segment length 76.742001 meters
#   Minimum depth: 281.902071 meters looking forward 200.000000 meters along route
#   Maximum depth: 336.224078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.902071 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802574;
longitude = -122.086210;
duration = 153;
# abortOnTimeout    = True; 
initialDepth = 267.687914;
finalDepth = 231.902071;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.463591
#   Actual altitude:          99.463591
#   Commanded vehicle depth:  231.902071 
#   Seafloor depth:           -331.365662
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.84;
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 41
#   Segment length 100.901823 meters
#   Minimum depth: 317.687914 meters looking forward 200.000000 meters along route
#   Maximum depth: 396.282631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 267.687914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802334;
longitude = -122.087017;
duration = 201;
initialDepth = 299.035353;
finalDepth = 267.687914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       99.463591
#   Actual altitude:          99.463591
#   Commanded vehicle depth:  267.687914 
#   Seafloor depth:           -340.276404
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.84;
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 41
#   Segment length 110.139708 meters
#   Minimum depth: 349.035353 meters looking forward 200.000000 meters along route
#   Maximum depth: 404.001809 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.035353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802018;
longitude = -122.088077;
duration = 220;
initialDepth = 299.723004;
finalDepth = 299.035353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       100.455697
#   Actual altitude:          100
#   Commanded vehicle depth:  299.035353 
#   Seafloor depth:           -399.491050
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 40
#   Segment length 152.545627 meters
#   Minimum depth: 349.723004 meters looking forward 200.000000 meters along route
#   Maximum depth: 396.452274 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.723004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801673;
longitude = -122.089235;
duration = 305;
# abortOnTimeout    = True; 
initialDepth = 292.488538;
finalDepth = 299.723004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.455697
#   Actual altitude:          100
#   Commanded vehicle depth:  299.723004 
#   Seafloor depth:           -385.813192
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 40
#   Segment length 102.295473 meters
#   Minimum depth: 342.488538 meters looking forward 200.000000 meters along route
#   Maximum depth: 380.330090 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 292.488538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800396;
longitude = -122.089870;
duration = 204;
initialDepth = 255.216815;
finalDepth = 292.488538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.090188
#   Actual altitude:          86.090188
#   Commanded vehicle depth:  292.488538 
#   Seafloor depth:           -346.942505
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.83;
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 40
#   Segment length 104.090271 meters
#   Minimum depth: 305.216815 meters looking forward 200.000000 meters along route
#   Maximum depth: 352.923199 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 255.216815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799540;
longitude = -122.090296;
duration = 208;
initialDepth = 240.330200;
finalDepth = 255.216815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       78.4956
#   Actual altitude:          78.4956
#   Commanded vehicle depth:  255.216815 
#   Seafloor depth:           -333.712415
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 39
#   Segment length 113.288023 meters
#   Minimum depth: 290.330200 meters looking forward 200.000000 meters along route
#   Maximum depth: 321.302802 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 240.330200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798669;
longitude = -122.090729;
duration = 226;
# abortOnTimeout    = True; 
initialDepth = 240.330200;
finalDepth = 240.330200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.4956
#   Actual altitude:          78.4956
#   Commanded vehicle depth:  240.3302 
#   Seafloor depth:           -307.767334
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 39
#   Segment length 105.979304 meters
#   Minimum depth: 290.330200 meters looking forward 200.000000 meters along route
#   Maximum depth: 328.607467 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 240.330200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797737;
longitude = -122.091250;
duration = 211;
initialDepth = 247.448406;
finalDepth = 240.330200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.437134
#   Actual altitude:          67.437134
#   Commanded vehicle depth:  240.3302 
#   Seafloor depth:           -296.465259
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 38
#   Segment length 95.306707 meters
#   Minimum depth: 297.448406 meters looking forward 200.000000 meters along route
#   Maximum depth: 350.875739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 247.448406 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796866;
longitude = -122.091737;
duration = 190;
# abortOnTimeout    = True; 
initialDepth = 281.193705;
finalDepth = 247.448406;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.745299
#   Actual altitude:          83.745299
#   Commanded vehicle depth:  247.448406 
#   Seafloor depth:           -331.193705
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.12;
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 38
#   Segment length 102.931470 meters
#   Minimum depth: 331.193705 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.227788 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 281.193705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796115;
longitude = -122.092256;
duration = 205;
initialDepth = 299.941897;
finalDepth = 281.193705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.745299
#   Actual altitude:          83.745299
#   Commanded vehicle depth:  281.193705 
#   Seafloor depth:           -351.862204
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.12;
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 38
#   Segment length 110.556285 meters
#   Minimum depth: 349.941897 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.227788 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.941897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795304;
longitude = -122.092816;
duration = 221;
initialDepth = 287.030858;
finalDepth = 299.941897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       70.668499
#   Actual altitude:          70.668499
#   Commanded vehicle depth:  299.941897 
#   Seafloor depth:           -359.980710
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 37
#   Segment length 153.101573 meters
#   Minimum depth: 337.030858 meters looking forward 200.000000 meters along route
#   Maximum depth: 352.204234 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 287.030858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794433;
longitude = -122.093417;
duration = 306;
# abortOnTimeout    = True; 
initialDepth = 287.030858;
finalDepth = 287.030858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.72256
#   Actual altitude:          62.72256
#   Commanded vehicle depth:  287.030858 
#   Seafloor depth:           -349.753418
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 37
#   Segment length 110.999253 meters
#   Minimum depth: 337.030858 meters looking forward 200.000000 meters along route
#   Maximum depth: 345.833793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 287.030858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793753;
longitude = -122.094911;
duration = 221;
initialDepth = 291.437883;
finalDepth = 287.030858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.72256
#   Actual altitude:          62.72256
#   Commanded vehicle depth:  287.030858 
#   Seafloor depth:           -340.863822
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 36
#   Segment length 175.212217 meters
#   Minimum depth: 341.437883 meters looking forward 200.000000 meters along route
#   Maximum depth: 398.619587 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 291.437883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793261;
longitude = -122.095994;
duration = 350;
# abortOnTimeout    = True; 
initialDepth = 321.085051;
finalDepth = 291.437883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.832964
#   Actual altitude:          53.832964
#   Commanded vehicle depth:  291.437883 
#   Seafloor depth:           -342.871012
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.15;
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 36
#   Segment length 101.084182 meters
#   Minimum depth: 371.085051 meters looking forward 200.000000 meters along route
#   Maximum depth: 398.619587 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 321.085051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793026;
longitude = -122.097936;
duration = 202;
initialDepth = 299.511483;
finalDepth = 321.085051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.884667
#   Actual altitude:          72.884667
#   Commanded vehicle depth:  321.085051 
#   Seafloor depth:           -393.969718
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.87;
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 36
#   Segment length 104.453816 meters
#   Minimum depth: 349.511483 meters looking forward 200.000000 meters along route
#   Maximum depth: 394.990638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.511483 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792890;
longitude = -122.099056;
duration = 208;
initialDepth = 296.866855;
finalDepth = 299.511483;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       72.884667
#   Actual altitude:          72.884667
#   Commanded vehicle depth:  299.511483 
#   Seafloor depth:           -369.440822
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.87;
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 35
#   Segment length 133.698225 meters
#   Minimum depth: 346.866855 meters looking forward 200.000000 meters along route
#   Maximum depth: 361.967833 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 296.866855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792750;
longitude = -122.100214;
duration = 267;
# abortOnTimeout    = True; 
initialDepth = 296.866855;
finalDepth = 296.866855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.929339
#   Actual altitude:          69.929339
#   Commanded vehicle depth:  296.866855 
#   Seafloor depth:           -348.921672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.98;
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 35
#   Segment length 105.411518 meters
#   Minimum depth: 346.866855 meters looking forward 200.000000 meters along route
#   Maximum depth: 356.945313 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 296.866855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792240;
longitude = -122.101571;
duration = 210;
initialDepth = 301.295351;
finalDepth = 296.866855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.052895
#   Actual altitude:          53.052895
#   Commanded vehicle depth:  296.866855 
#   Seafloor depth:           -349.919750
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 35
#   Segment length 110.359091 meters
#   Minimum depth: 351.295351 meters looking forward 200.000000 meters along route
#   Maximum depth: 363.121891 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 301.295351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791837;
longitude = -122.102641;
duration = 220;
initialDepth = 307.332313;
finalDepth = 301.295351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.144449
#   Actual altitude:          56.144449
#   Commanded vehicle depth:  301.295351 
#   Seafloor depth:           -357.439800
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 35
#   Segment length 106.680905 meters
#   Minimum depth: 357.332313 meters looking forward 200.000000 meters along route
#   Maximum depth: 368.528894 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 307.332313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791415;
longitude = -122.103762;
duration = 213;
initialDepth = 317.188905;
finalDepth = 307.332313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       56.168362
#   Actual altitude:          56.168362
#   Commanded vehicle depth:  307.332313 
#   Seafloor depth:           -363.500675
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.85;
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 34
#   Segment length 161.215503 meters
#   Minimum depth: 367.188905 meters looking forward 200.000000 meters along route
#   Maximum depth: 398.240501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 317.188905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791008;
longitude = -122.104845;
duration = 322;
# abortOnTimeout    = True; 
initialDepth = 337.586872;
finalDepth = 317.188905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       56.168362
#   Actual altitude:          56.168362
#   Commanded vehicle depth:  317.188905 
#   Seafloor depth:           -368.473958
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.85;
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 33
#   Segment length 142.543106 meters
#   Minimum depth: 387.586872 meters looking forward 200.000000 meters along route
#   Maximum depth: 399.053996 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 337.586872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789566;
longitude = -122.104621;
duration = 285;
# abortOnTimeout    = True; 
initialDepth = 341.217773;
finalDepth = 337.586872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.467124
#   Actual altitude:          61.467124
#   Commanded vehicle depth:  337.586872 
#   Seafloor depth:           -399.053996
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.44;
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 33
#   Segment length 104.381478 meters
#   Minimum depth: 391.217773 meters looking forward 200.000000 meters along route
#   Maximum depth: 399.555801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 341.217773 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790077;
longitude = -122.103155;
duration = 208;
initialDepth = 340.699403;
finalDepth = 341.217773;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.467124
#   Actual altitude:          61.467124
#   Commanded vehicle depth:  341.217773 
#   Seafloor depth:           -394.986110
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.44;
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 33
#   Segment length 108.936594 meters
#   Minimum depth: 390.699403 meters looking forward 200.000000 meters along route
#   Maximum depth: 399.555801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 340.699403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790451;
longitude = -122.102081;
duration = 217;
initialDepth = 340.699403;
finalDepth = 340.699403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.771544
#   Actual altitude:          53.771544
#   Commanded vehicle depth:  340.699403 
#   Seafloor depth:           -394.470947
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.13;
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 33
#   Segment length 105.304952 meters
#   Minimum depth: 390.699403 meters looking forward 200.000000 meters along route
#   Maximum depth: 404.465997 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 340.699403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790841;
longitude = -122.100961;
duration = 210;
initialDepth = 346.462353;
finalDepth = 340.699403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.771544
#   Actual altitude:          53.771544
#   Commanded vehicle depth:  340.699403 
#   Seafloor depth:           -393.217173
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.13;
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 to get to end of line 32
#   Segment length 164.754177 meters
#   Minimum depth: 396.462353 meters looking forward 200.000000 meters along route
#   Maximum depth: 445.928728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 346.462353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791218;
longitude = -122.099878;
duration = 329;
# abortOnTimeout    = True; 
initialDepth = 364.919818;
finalDepth = 346.462353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.609465
#   Actual altitude:          53.609465
#   Commanded vehicle depth:  346.462353 
#   Seafloor depth:           -400.071818
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 32
#   Segment length 100.869724 meters
#   Minimum depth: 414.919818 meters looking forward 200.000000 meters along route
#   Maximum depth: 454.845996 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 364.919818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791417;
longitude = -122.098048;
duration = 201;
initialDepth = 335.571998;
finalDepth = 364.919818;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.926178
#   Actual altitude:          89.926178
#   Commanded vehicle depth:  364.919818 
#   Seafloor depth:           -454.845996
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.98;
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 32
#   Segment length 107.594221 meters
#   Minimum depth: 385.571998 meters looking forward 200.000000 meters along route
#   Maximum depth: 449.825669 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.571998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791539;
longitude = -122.096928;
duration = 215;
initialDepth = 335.571998;
finalDepth = 335.571998;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       89.926178
#   Actual altitude:          89.926178
#   Commanded vehicle depth:  335.571998 
#   Seafloor depth:           -412.950215
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.98;
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 to get to end of line 31
#   Segment length 161.177594 meters
#   Minimum depth: 385.571998 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.443468 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.571998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791669;
longitude = -122.095733;
duration = 322;
# abortOnTimeout    = True; 
initialDepth = 334.837565;
finalDepth = 335.571998;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.378217
#   Actual altitude:          77.378217
#   Commanded vehicle depth:  335.571998 
#   Seafloor depth:           -389.686320
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.21;
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 31
#   Segment length 108.039111 meters
#   Minimum depth: 384.837565 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.443468 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 334.837565 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792334;
longitude = -122.094127;
duration = 216;
initialDepth = 332.264455;
finalDepth = 334.837565;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.025147
#   Actual altitude:          58.025147
#   Commanded vehicle depth:  334.837565 
#   Seafloor depth:           -392.862712
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 31
#   Segment length 101.865015 meters
#   Minimum depth: 382.264455 meters looking forward 200.000000 meters along route
#   Maximum depth: 398.866117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 332.264455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792780;
longitude = -122.093051;
duration = 203;
initialDepth = 332.264455;
finalDepth = 332.264455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.025147
#   Actual altitude:          58.025147
#   Commanded vehicle depth:  332.264455 
#   Seafloor depth:           -384.647851
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 30
#   Segment length 140.338161 meters
#   Minimum depth: 382.264455 meters looking forward 200.000000 meters along route
#   Maximum depth: 419.762275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 332.264455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793201;
longitude = -122.092036;
duration = 280;
# abortOnTimeout    = True; 
initialDepth = 353.361576;
finalDepth = 332.264455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.843862
#   Actual altitude:          58.843862
#   Commanded vehicle depth:  332.264455 
#   Seafloor depth:           -391.108317
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.65;
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 30
#   Segment length 102.408662 meters
#   Minimum depth: 403.361576 meters looking forward 200.000000 meters along route
#   Maximum depth: 443.179350 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 353.361576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794313;
longitude = -122.091285;
duration = 204;
initialDepth = 343.660686;
finalDepth = 353.361576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.928271
#   Actual altitude:          69.928271
#   Commanded vehicle depth:  353.361576 
#   Seafloor depth:           -423.289847
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.98;
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 30
#   Segment length 106.201337 meters
#   Minimum depth: 393.660686 meters looking forward 200.000000 meters along route
#   Maximum depth: 443.179350 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 343.660686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795124;
longitude = -122.090737;
duration = 212;
initialDepth = 330.452637;
finalDepth = 343.660686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       89.773019
#   Actual altitude:          89.773019
#   Commanded vehicle depth:  343.660686 
#   Seafloor depth:           -433.433705
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.93;
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 to get to end of line 29
#   Segment length 168.698722 meters
#   Minimum depth: 380.452637 meters looking forward 200.000000 meters along route
#   Maximum depth: 402.636527 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 330.452637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795965;
longitude = -122.090169;
duration = 337;
# abortOnTimeout    = True; 
initialDepth = 328.696027;
finalDepth = 330.452637;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.773019
#   Actual altitude:          89.773019
#   Commanded vehicle depth:  330.452637 
#   Seafloor depth:           -391.538127
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.93;
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 29
#   Segment length 100.501190 meters
#   Minimum depth: 378.696027 meters looking forward 200.000000 meters along route
#   Maximum depth: 393.064026 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 328.696027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797377;
longitude = -122.089466;
duration = 201;
initialDepth = 327.403870;
finalDepth = 328.696027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.08549
#   Actual altitude:          61.08549
#   Commanded vehicle depth:  328.696027 
#   Seafloor depth:           -389.049615
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.33;
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 to get to end of line 28
#   Segment length 179.158505 meters
#   Minimum depth: 377.403870 meters looking forward 200.000000 meters along route
#   Maximum depth: 444.429871 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 327.403870 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798218;
longitude = -122.089048;
duration = 358;
# abortOnTimeout    = True; 
initialDepth = 361.956282;
finalDepth = 327.403870;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.353588
#   Actual altitude:          60.353588
#   Commanded vehicle depth:  327.40387 
#   Seafloor depth:           -383.093669
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.11;
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 28
#   Segment length 105.387217 meters
#   Minimum depth: 411.956282 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.527483 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 361.956282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799750;
longitude = -122.088413;
duration = 210;
initialDepth = 372.156694;
finalDepth = 361.956282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       82.521064
#   Actual altitude:          82.521064
#   Commanded vehicle depth:  361.956282 
#   Seafloor depth:           -444.477346
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.76;
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 to get to end of line 27
#   Segment length 101.672549 meters
#   Minimum depth: 422.156694 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.527483 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 372.156694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800651;
longitude = -122.088040;
duration = 203;
# abortOnTimeout    = True; 
initialDepth = 345.386571;
finalDepth = 372.156694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.521064
#   Actual altitude:          82.521064
#   Commanded vehicle depth:  372.156694 
#   Seafloor depth:           -445.882487
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.76;
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 27
#   Segment length 101.672228 meters
#   Minimum depth: 395.386571 meters looking forward 200.000000 meters along route
#   Maximum depth: 449.402519 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 345.386571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800937;
longitude = -122.086957;
duration = 203;
initialDepth = 324.071753;
finalDepth = 345.386571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       73.725793
#   Actual altitude:          73.725793
#   Commanded vehicle depth:  345.386571 
#   Seafloor depth:           -417.776016
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.12;
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 to get to end of line 26
#   Segment length 106.172441 meters
#   Minimum depth: 374.071753 meters looking forward 200.000000 meters along route
#   Maximum depth: 413.021117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 324.071753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801222;
longitude = -122.085874;
duration = 212;
# abortOnTimeout    = True; 
initialDepth = 324.071753;
finalDepth = 324.071753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.544783
#   Actual altitude:          82.544783
#   Commanded vehicle depth:  324.071753 
#   Seafloor depth:           -406.616536
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 24.76;
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 26
#   Segment length 109.629576 meters
#   Minimum depth: 374.071753 meters looking forward 200.000000 meters along route
#   Maximum depth: 392.257511 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 324.071753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801444;
longitude = -122.084716;
duration = 219;
initialDepth = 324.767979;
finalDepth = 324.071753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       82.544783
#   Actual altitude:          82.544783
#   Commanded vehicle depth:  324.071753 
#   Seafloor depth:           -375.640825
# 
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 = 24.76;
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;
}
# 
#######################################################
# 
# 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 83.658636 meters
#   Minimum depth: 374.767979 meters looking forward 200.000000 meters along route
#   Maximum depth: 390.844465 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 324.767979 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 = 326.705282;
finalDepth = 324.767979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.668888
#   Actual altitude:          59.668888
#   Commanded vehicle depth:  324.767979 
#   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 = 17.90;
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 25
#   Segment length 109.866745 meters
#   Minimum depth: 376.705282 meters looking forward 200.000000 meters along route
#   Maximum depth: 415.814783 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.802254;
longitude = -122.082924;
duration = 219;
initialDepth = 339.426967;
finalDepth = 326.705282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.695793
#   Actual altitude:          61.695793
#   Commanded vehicle depth:  326.705282 
#   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 = 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 25
#   Segment length 104.600400 meters
#   Minimum depth: 389.426967 meters looking forward 200.000000 meters along route
#   Maximum depth: 417.007142 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 339.426967 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 = 339.426967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       77.271897
#   Actual altitude:          77.271897
#   Commanded vehicle depth:  339.426967 
#   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 = 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 to get to end of line 24
#   Segment length 86.102910 meters
#   Minimum depth: 399.262872 meters looking forward 200.000000 meters along route
#   Maximum depth: 417.007142 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 349.262872;
finalDepth = 349.262872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.271897
#   Actual altitude:          77.271897
#   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 = 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 24
#   Segment length 100.710087 meters
#   Minimum depth: 399.262872 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.342044 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.803219;
longitude = -122.080683;
duration = 201;
initialDepth = 348.431758;
finalDepth = 349.262872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.721324
#   Actual altitude:          57.721324
#   Commanded vehicle depth:  349.262872 
#   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 = 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 24
#   Segment length 103.284512 meters
#   Minimum depth: 398.431758 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.342044 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 348.431758;
finalDepth = 348.431758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.721324
#   Actual altitude:          57.721324
#   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 = 17.32;
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 24
#   Segment length 113.139095 meters
#   Minimum depth: 398.431758 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.279862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.801973;
longitude = -122.079002;
duration = 226;
initialDepth = 316.317838;
finalDepth = 348.431758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.659934
#   Actual altitude:          57.659934
#   Commanded vehicle depth:  348.431758 
#   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 23
#   Segment length 155.763756 meters
#   Minimum depth: 366.317838 meters looking forward 200.000000 meters along route
#   Maximum depth: 408.740320 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 316.317838;
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 23
#   Segment length 100.511714 meters
#   Minimum depth: 366.317838 meters looking forward 200.000000 meters along route
#   Maximum depth: 383.953295 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.800531;
longitude = -122.076594;
duration = 201;
initialDepth = 322.474594;
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:           -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 23
#   Segment length 106.460564 meters
#   Minimum depth: 372.474594 meters looking forward 200.000000 meters along route
#   Maximum depth: 413.394459 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 322.474594 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 = 322.474594;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.822509
#   Actual altitude:          65.822509
#   Commanded vehicle depth:  322.474594 
#   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 = 19.75;
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 23
#   Segment length 110.834298 meters
#   Minimum depth: 372.245013 meters looking forward 200.000000 meters along route
#   Maximum depth: 413.394459 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 322.245013;
finalDepth = 322.245013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.822509
#   Actual altitude:          65.822509
#   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 = 19.75;
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 23
#   Segment length 105.990379 meters
#   Minimum depth: 372.245013 meters looking forward 200.000000 meters along route
#   Maximum depth: 415.010251 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.798999;
longitude = -122.073584;
duration = 211;
initialDepth = 324.100220;
finalDepth = 322.245013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.889731
#   Actual altitude:          64.889731
#   Commanded vehicle depth:  322.245013 
#   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 22
#   Segment length 92.602973 meters
#   Minimum depth: 374.100220 meters looking forward 200.000000 meters along route
#   Maximum depth: 432.878173 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.798488;
longitude = -122.072580;
duration = 185;
# abortOnTimeout    = True; 
initialDepth = 290.486511;
finalDepth = 324.100220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.436424
#   Actual altitude:          91.436424
#   Commanded vehicle depth:  324.10022 
#   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 = 27.43;
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 22
#   Segment length 100.045963 meters
#   Minimum depth: 340.486511 meters looking forward 200.000000 meters along route
#   Maximum depth: 432.878173 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 22
#   Segment length 100.046162 meters
#   Minimum depth: 333.598114 meters looking forward 200.000000 meters along route
#   Maximum depth: 399.680275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 283.598114;
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 22
#   Segment length 103.731229 meters
#   Minimum depth: 333.598114 meters looking forward 200.000000 meters along route
#   Maximum depth: 439.215791 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.796115;
longitude = -122.071146;
duration = 207;
initialDepth = 355.912009;
finalDepth = 283.598114;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       72.389083
#   Actual altitude:          72.389083
#   Commanded vehicle depth:  283.598114 
#   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 = 21.72;
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 to get to end of line 21
#   Segment length 170.669332 meters
#   Minimum depth: 405.912009 meters looking forward 200.000000 meters along route
#   Maximum depth: 465.983194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 21
#   Segment length 104.716086 meters
#   Minimum depth: 404.467552 meters looking forward 200.000000 meters along route
#   Maximum depth: 456.971888 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 354.467552;
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 21
#   Segment length 104.716376 meters
#   Minimum depth: 404.467552 meters looking forward 200.000000 meters along route
#   Maximum depth: 459.378251 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.793141;
longitude = -122.069059;
duration = 209;
initialDepth = 350.062459;
finalDepth = 354.467552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.500841
#   Actual altitude:          65.500841
#   Commanded vehicle depth:  354.467552 
#   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 = 19.65;
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 21
#   Segment length 108.546174 meters
#   Minimum depth: 400.062459 meters looking forward 200.000000 meters along route
#   Maximum depth: 459.378251 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 342.519931;
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 20
#   Segment length 167.483329 meters
#   Minimum depth: 392.519931 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.070237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 342.519931 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 = 344.139624;
finalDepth = 342.519931;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.026424
#   Actual altitude:          78.026424
#   Commanded vehicle depth:  342.519931 
#   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 20
#   Segment length 102.744756 meters
#   Minimum depth: 394.139624 meters looking forward 200.000000 meters along route
#   Maximum depth: 439.842350 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.790167;
longitude = -122.066931;
duration = 205;
initialDepth = 346.706392;
finalDepth = 344.139624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.539449
#   Actual altitude:          58.539449
#   Commanded vehicle depth:  344.139624 
#   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 = 17.56;
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 20
#   Segment length 102.745008 meters
#   Minimum depth: 396.706392 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.538754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.789356;
longitude = -122.066375;
duration = 205;
initialDepth = 376.175494;
finalDepth = 346.706392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.763963
#   Actual altitude:          94.763963
#   Commanded vehicle depth:  346.706392 
#   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 = 28.43;
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 20
#   Segment length 102.745260 meters
#   Minimum depth: 426.175494 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.538754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       94.763963
#   Actual altitude:          94.763963
#   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 = 28.43;
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 20
#   Segment length 102.745513 meters
#   Minimum depth: 393.839370 meters looking forward 200.000000 meters along route
#   Maximum depth: 441.925985 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 20
#   Segment length 102.745764 meters
#   Minimum depth: 369.281793 meters looking forward 200.000000 meters along route
#   Maximum depth: 428.441522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 319.281793;
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 20
#   Segment length 102.746017 meters
#   Minimum depth: 369.281793 meters looking forward 200.000000 meters along route
#   Maximum depth: 390.968608 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.786111;
longitude = -122.064152;
duration = 205;
initialDepth = 332.589080;
finalDepth = 319.281793;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.231377
#   Actual altitude:          69.231377
#   Commanded vehicle depth:  319.281793 
#   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 20
#   Segment length 106.544314 meters
#   Minimum depth: 382.589080 meters looking forward 200.000000 meters along route
#   Maximum depth: 414.434612 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 340.358671;
finalDepth = 332.589080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.349034
#   Actual altitude:          61.349034
#   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 = 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 19
#   Segment length 110.093239 meters
#   Minimum depth: 390.358671 meters looking forward 200.000000 meters along route
#   Maximum depth: 416.588669 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 340.358671 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 = 340.358671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.229998
#   Actual altitude:          76.229998
#   Commanded vehicle depth:  340.358671 
#   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 = 22.87;
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 19
#   Segment length 105.643608 meters
#   Minimum depth: 394.209687 meters looking forward 200.000000 meters along route
#   Maximum depth: 411.237018 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 344.209687;
finalDepth = 344.209687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.229998
#   Actual altitude:          76.229998
#   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 = 22.87;
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 19
#   Segment length 100.532521 meters
#   Minimum depth: 394.209687 meters looking forward 200.000000 meters along route
#   Maximum depth: 408.012010 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.783188;
longitude = -122.061190;
duration = 201;
initialDepth = 352.670596;
finalDepth = 344.209687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.1090850000001
#   Actual altitude:          58.1090850000001
#   Commanded vehicle depth:  344.209687 
#   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 = 17.43;
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 101.943704 meters
#   Minimum depth: 402.670596 meters looking forward 200.000000 meters along route
#   Maximum depth: 408.012010 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       58.1090850000001
#   Actual altitude:          58.1090850000001
#   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 = 17.43;
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 18
#   Segment length 104.957469 meters
#   Minimum depth: 402.089706 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.253675 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 353.101788;
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 18
#   Segment length 101.155074 meters
#   Minimum depth: 403.101788 meters looking forward 200.000000 meters along route
#   Maximum depth: 411.175649 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 353.101788 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 = 353.101788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.13359
#   Actual altitude:          55.13359
#   Commanded vehicle depth:  353.101788 
#   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 = 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 18
#   Segment length 101.155296 meters
#   Minimum depth: 405.710663 meters looking forward 200.000000 meters along route
#   Maximum depth: 413.114054 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 355.710663;
finalDepth = 355.710663;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.13359
#   Actual altitude:          55.13359
#   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 = 16.54;
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 18
#   Segment length 108.643318 meters
#   Minimum depth: 405.710663 meters looking forward 200.000000 meters along route
#   Maximum depth: 414.981274 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.779532;
longitude = -122.057899;
duration = 217;
initialDepth = 355.170914;
finalDepth = 355.710663;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.861819
#   Actual altitude:          56.861819
#   Commanded vehicle depth:  355.710663 
#   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 = 17.06;
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 116.222467 meters
#   Minimum depth: 405.170914 meters looking forward 200.000000 meters along route
#   Maximum depth: 434.195610 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 359.562444;
finalDepth = 355.170914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.861819
#   Actual altitude:          56.861819
#   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 = 17.06;
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 17
#   Segment length 102.417679 meters
#   Minimum depth: 409.562444 meters looking forward 200.000000 meters along route
#   Maximum depth: 462.742857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 359.562444 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 = 388.115192;
finalDepth = 359.562444;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.26753
#   Actual altitude:          75.26753
#   Commanded vehicle depth:  359.562444 
#   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 = 22.58;
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 17
#   Segment length 107.330198 meters
#   Minimum depth: 438.115192 meters looking forward 200.000000 meters along route
#   Maximum depth: 498.839982 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 388.115192 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 = 420.079873;
finalDepth = 388.115192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.052168
#   Actual altitude:          78.052168
#   Commanded vehicle depth:  388.115192 
#   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 = 23.42;
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 17
#   Segment length 102.075724 meters
#   Minimum depth: 470.079873 meters looking forward 200.000000 meters along route
#   Maximum depth: 528.477916 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 420.079873 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 = 455.320636;
finalDepth = 420.079873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.472262
#   Actual altitude:          79.472262
#   Commanded vehicle depth:  420.079873 
#   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 = 23.84;
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 100.659947 meters
#   Minimum depth: 505.320636 meters looking forward 200.000000 meters along route
#   Maximum depth: 554.398234 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 455.320636 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 = 480.955928;
finalDepth = 455.320636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.472262
#   Actual altitude:          79.472262
#   Commanded vehicle depth:  455.320636 
#   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 = 23.84;
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 101.109673 meters
#   Minimum depth: 530.955928 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.390304 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 480.955928 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 = 507.030340;
finalDepth = 480.955928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.732974
#   Actual altitude:          76.732974
#   Commanded vehicle depth:  480.955928 
#   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 = 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 17
#   Segment length 101.627114 meters
#   Minimum depth: 557.030340 meters looking forward 200.000000 meters along route
#   Maximum depth: 600.033530 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.773901;
longitude = -122.061190;
duration = 203;
initialDepth = 532.393112;
finalDepth = 507.030340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.732974
#   Actual altitude:          76.732974
#   Commanded vehicle depth:  507.03034 
#   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 = 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 17
#   Segment length 100.143611 meters
#   Minimum depth: 582.393112 meters looking forward 200.000000 meters along route
#   Maximum depth: 617.657097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 532.393112 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 = 552.904005;
finalDepth = 532.393112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.847727
#   Actual altitude:          73.847727
#   Commanded vehicle depth:  532.393112 
#   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 = 22.15;
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 17
#   Segment length 102.594293 meters
#   Minimum depth: 602.904005 meters looking forward 200.000000 meters along route
#   Maximum depth: 638.055341 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 552.904005 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 = 573.653599;
finalDepth = 552.904005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.393809
#   Actual altitude:          69.393809
#   Commanded vehicle depth:  552.904005 
#   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 = 20.82;
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 17
#   Segment length 107.332283 meters
#   Minimum depth: 623.653599 meters looking forward 200.000000 meters along route
#   Maximum depth: 659.195910 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 573.653599 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 = 594.918557;
finalDepth = 573.653599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.927575
#   Actual altitude:          66.927575
#   Commanded vehicle depth:  573.653599 
#   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 = 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 17
#   Segment length 101.903083 meters
#   Minimum depth: 644.918557 meters looking forward 200.000000 meters along route
#   Maximum depth: 685.830562 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 594.918557 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 = 614.635908;
finalDepth = 594.918557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.918259
#   Actual altitude:          66.918259
#   Commanded vehicle depth:  594.918557 
#   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 = 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 17
#   Segment length 100.836528 meters
#   Minimum depth: 664.635908 meters looking forward 200.000000 meters along route
#   Maximum depth: 705.022753 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 614.635908 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 = 639.537522;
finalDepth = 614.635908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.9470710000001
#   Actual altitude:          73.9470710000001
#   Commanded vehicle depth:  614.635908 
#   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 = 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 17
#   Segment length 100.937013 meters
#   Minimum depth: 689.537522 meters looking forward 200.000000 meters along route
#   Maximum depth: 740.522479 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 639.537522 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 = 665.201676;
finalDepth = 639.537522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.342703
#   Actual altitude:          75.342703
#   Commanded vehicle depth:  639.537522 
#   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 = 22.60;
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 17
#   Segment length 101.803715 meters
#   Minimum depth: 715.201676 meters looking forward 200.000000 meters along route
#   Maximum depth: 765.578557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 665.201676 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 = 689.867361;
finalDepth = 665.201676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.342703
#   Actual altitude:          75.342703
#   Commanded vehicle depth:  665.201676 
#   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 = 22.60;
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 17
#   Segment length 107.333778 meters
#   Minimum depth: 739.867361 meters looking forward 200.000000 meters along route
#   Maximum depth: 800.170821 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 689.867361 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 = 724.874184;
finalDepth = 689.867361;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.8928860000001
#   Actual altitude:          81.8928860000001
#   Commanded vehicle depth:  689.867361 
#   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 = 24.57;
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 17
#   Segment length 102.696516 meters
#   Minimum depth: 774.874184 meters looking forward 200.000000 meters along route
#   Maximum depth: 824.917703 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 724.874184 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 = 759.582687;
finalDepth = 724.874184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.8928860000001
#   Actual altitude:          81.8928860000001
#   Commanded vehicle depth:  724.874184 
#   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 = 24.57;
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 17
#   Segment length 100.045919 meters
#   Minimum depth: 809.582687 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.073588 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 759.582687 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 = 777.197297;
finalDepth = 759.582687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.420795
#   Actual altitude:          76.420795
#   Commanded vehicle depth:  759.582687 
#   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 = 22.93;
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 17
#   Segment length 101.730436 meters
#   Minimum depth: 827.197297 meters looking forward 200.000000 meters along route
#   Maximum depth: 868.423752 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.197297 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 = 797.092378;
finalDepth = 777.197297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.036734
#   Actual altitude:          67.036734
#   Commanded vehicle depth:  777.197297 
#   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 = 20.11;
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 17
#   Segment length 101.013116 meters
#   Minimum depth: 847.092378 meters looking forward 200.000000 meters along route
#   Maximum depth: 904.688151 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 797.092378 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 = 827.524649;
finalDepth = 797.092378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.1226949999999
#   Actual altitude:          74.1226949999999
#   Commanded vehicle depth:  797.092378 
#   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 = 22.24;
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 17
#   Segment length 100.764345 meters
#   Minimum depth: 877.524649 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.488923 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 827.524649 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 = 861.126190;
finalDepth = 827.524649;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.825678
#   Actual altitude:          78.825678
#   Commanded vehicle depth:  827.524649 
#   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 = 23.65;
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 17
#   Segment length 101.980323 meters
#   Minimum depth: 911.126190 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.022883 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 861.126190 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 = 888.443993;
finalDepth = 861.126190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.825678
#   Actual altitude:          78.825678
#   Commanded vehicle depth:  861.12619 
#   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 = 23.65;
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 17
#   Segment length 107.335865 meters
#   Minimum depth: 938.443993 meters looking forward 200.000000 meters along route
#   Maximum depth: 984.308095 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 888.443993 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 = 904.657992;
finalDepth = 888.443993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.711592
#   Actual altitude:          75.711592
#   Commanded vehicle depth:  888.443993 
#   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 = 22.71;
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 17
#   Segment length 107.336178 meters
#   Minimum depth: 954.657992 meters looking forward 200.000000 meters along route
#   Maximum depth: 984.308095 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 904.657992 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 = 927.914230;
finalDepth = 904.657992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.0814799999999
#   Actual altitude:          78.0814799999999
#   Commanded vehicle depth:  904.657992 
#   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 = 23.42;
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 17
#   Segment length 111.320319 meters
#   Minimum depth: 977.914230 meters looking forward 200.000000 meters along route
#   Maximum depth: 994.016830 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.760696;
longitude = -122.071862;
duration = 222;
initialDepth = 930.766331;
finalDepth = 927.914230;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       78.0814799999999
#   Actual altitude:          78.0814799999999
#   Commanded vehicle depth:  927.91423 
#   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 = 23.42;
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 16
#   Segment length 108.277346 meters
#   Minimum depth: 980.766331 meters looking forward 200.000000 meters along route
#   Maximum depth: 1003.908181 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 930.766331 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 = 944.143216;
finalDepth = 930.766331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1343499999999
#   Actual altitude:          65.1343499999999
#   Commanded vehicle depth:  930.766331 
#   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 = 19.54;
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 16
#   Segment length 100.785486 meters
#   Minimum depth: 994.143216 meters looking forward 200.000000 meters along route
#   Maximum depth: 1018.256839 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.759416;
longitude = -122.073625;
duration = 201;
initialDepth = 953.010913;
finalDepth = 944.143216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1343499999999
#   Actual altitude:          65.1343499999999
#   Commanded vehicle depth:  944.143216 
#   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 = 19.54;
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 16
#   Segment length 100.785892 meters
#   Minimum depth: 1003.010913 meters looking forward 200.000000 meters along route
#   Maximum depth: 1038.463118 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.759007;
longitude = -122.074634;
duration = 201;
initialDepth = 961.826402;
finalDepth = 953.010913;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.034865
#   Actual altitude:          61.034865
#   Commanded vehicle depth:  953.010913 
#   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 = 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 16
#   Segment length 100.786300 meters
#   Minimum depth: 1011.826402 meters looking forward 200.000000 meters along route
#   Maximum depth: 1074.494123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 961.826402 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 = 995.462877;
finalDepth = 961.826402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.9671099999999
#   Actual altitude:          75.9671099999999
#   Commanded vehicle depth:  961.826402 
#   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 = 22.79;
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 16
#   Segment length 100.786706 meters
#   Minimum depth: 1045.462877 meters looking forward 200.000000 meters along route
#   Maximum depth: 1074.494123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 995.462877 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 = 1013.450264;
finalDepth = 995.462877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.9671099999999
#   Actual altitude:          75.9671099999999
#   Commanded vehicle depth:  995.462877 
#   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 = 22.79;
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 16
#   Segment length 100.787113 meters
#   Minimum depth: 1063.450264 meters looking forward 200.000000 meters along route
#   Maximum depth: 1073.054615 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.757780;
longitude = -122.077658;
duration = 201;
initialDepth = 1016.129672;
finalDepth = 1013.450264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.0652050000001
#   Actual altitude:          70.0652050000001
#   Commanded vehicle depth:  1013.450264 
#   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 = 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 16
#   Segment length 100.787520 meters
#   Minimum depth: 1066.129672 meters looking forward 200.000000 meters along route
#   Maximum depth: 1089.116398 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.757372;
longitude = -122.078667;
duration = 201;
initialDepth = 1025.610734;
finalDepth = 1016.129672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3050559999999
#   Actual altitude:          58.3050559999999
#   Commanded vehicle depth:  1016.129672 
#   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 = 17.49;
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 16
#   Segment length 100.787927 meters
#   Minimum depth: 1075.610734 meters looking forward 200.000000 meters along route
#   Maximum depth: 1108.925525 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1025.610734 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 = 1047.492297;
finalDepth = 1025.610734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.4079119999999
#   Actual altitude:          66.4079119999999
#   Commanded vehicle depth:  1025.610734 
#   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 = 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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 100.788333 meters
#   Minimum depth: 1097.492297 meters looking forward 200.000000 meters along route
#   Maximum depth: 1132.089011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1047.492297 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 = 1062.838680;
finalDepth = 1047.492297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.4079119999999
#   Actual altitude:          66.4079119999999
#   Commanded vehicle depth:  1047.492297 
#   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 = 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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 100.788741 meters
#   Minimum depth: 1112.838680 meters looking forward 200.000000 meters along route
#   Maximum depth: 1139.520110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1062.838680 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 = 1079.040759;
finalDepth = 1062.838680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.11987
#   Actual altitude:          69.11987
#   Commanded vehicle depth:  1062.83868 
#   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 = 20.74;
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 16
#   Segment length 100.789147 meters
#   Minimum depth: 1129.040759 meters looking forward 200.000000 meters along route
#   Maximum depth: 1139.520110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.755736;
longitude = -122.082700;
duration = 201;
initialDepth = 1081.519893;
finalDepth = 1079.040759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.11987
#   Actual altitude:          69.11987
#   Commanded vehicle depth:  1079.040759 
#   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 = 20.74;
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 16
#   Segment length 100.789555 meters
#   Minimum depth: 1131.519893 meters looking forward 200.000000 meters along route
#   Maximum depth: 1137.600581 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.755327;
longitude = -122.083708;
duration = 201;
initialDepth = 1083.238113;
finalDepth = 1081.519893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0064340000001
#   Actual altitude:          53.0064340000001
#   Commanded vehicle depth:  1081.519893 
#   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 = 15.90;
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 16
#   Segment length 100.789961 meters
#   Minimum depth: 1133.238113 meters looking forward 200.000000 meters along route
#   Maximum depth: 1146.715526 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.754918;
longitude = -122.084716;
duration = 201;
initialDepth = 1086.849338;
finalDepth = 1083.238113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8435119999999
#   Actual altitude:          52.8435119999999
#   Commanded vehicle depth:  1083.238113 
#   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 = 15.85;
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 16
#   Segment length 100.790368 meters
#   Minimum depth: 1136.849338 meters looking forward 200.000000 meters along route
#   Maximum depth: 1166.368417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1086.849338 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 = 1102.528877;
finalDepth = 1086.849338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.3315580000001
#   Actual altitude:          63.3315580000001
#   Commanded vehicle depth:  1086.849338 
#   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 = 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 16
#   Segment length 100.790776 meters
#   Minimum depth: 1152.528877 meters looking forward 200.000000 meters along route
#   Maximum depth: 1193.075110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1102.528877 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 = 1118.376910;
finalDepth = 1102.528877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.5010669999999
#   Actual altitude:          65.5010669999999
#   Commanded vehicle depth:  1102.528877 
#   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 = 19.65;
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 16
#   Segment length 100.791182 meters
#   Minimum depth: 1168.376910 meters looking forward 200.000000 meters along route
#   Maximum depth: 1222.105770 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1118.376910 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 = 1144.951013;
finalDepth = 1118.376910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.2302540000001
#   Actual altitude:          71.2302540000001
#   Commanded vehicle depth:  1118.37691 
#   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 = 21.37;
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 16
#   Segment length 105.428326 meters
#   Minimum depth: 1194.951013 meters looking forward 200.000000 meters along route
#   Maximum depth: 1223.121736 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1144.951013 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 = 1144.951013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.0968759999998
#   Actual altitude:          78.0968759999998
#   Commanded vehicle depth:  1144.951013 
#   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 = 23.43;
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 16
#   Segment length 103.646774 meters
#   Minimum depth: 1214.157377 meters looking forward 200.000000 meters along route
#   Maximum depth: 1223.121736 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1168.559948;
finalDepth = 1164.157377;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       78.0968759999998
#   Actual altitude:          78.0968759999998
#   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 = 23.43;
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 15
#   Segment length 170.723122 meters
#   Minimum depth: 1218.559948 meters looking forward 200.000000 meters along route
#   Maximum depth: 1231.912462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1168.559948 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 = 1172.954897;
finalDepth = 1168.559948;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8176149999999
#   Actual altitude:          53.8176149999999
#   Commanded vehicle depth:  1168.559948 
#   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 = 16.15;
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 15
#   Segment length 102.448250 meters
#   Minimum depth: 1222.954897 meters looking forward 200.000000 meters along route
#   Maximum depth: 1251.398942 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1172.954897 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 = 1180.838382;
finalDepth = 1172.954897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8176149999999
#   Actual altitude:          53.8176149999999
#   Commanded vehicle depth:  1172.954897 
#   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 = 16.15;
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 15
#   Segment length 102.447792 meters
#   Minimum depth: 1230.838382 meters looking forward 200.000000 meters along route
#   Maximum depth: 1277.257145 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1180.838382 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 = 1202.401002;
finalDepth = 1180.838382;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.1129660000001
#   Actual altitude:          70.1129660000001
#   Commanded vehicle depth:  1180.838382 
#   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 = 21.03;
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 15
#   Segment length 102.447335 meters
#   Minimum depth: 1252.401002 meters looking forward 200.000000 meters along route
#   Maximum depth: 1282.283478 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1202.401002 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 = 1202.401002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.3563339999998
#   Actual altitude:          75.3563339999998
#   Commanded vehicle depth:  1202.401002 
#   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 = 22.61;
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 15
#   Segment length 102.446877 meters
#   Minimum depth: 1270.981391 meters looking forward 200.000000 meters along route
#   Maximum depth: 1282.283478 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1220.981391;
finalDepth = 1220.981391;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.3563339999998
#   Actual altitude:          75.3563339999998
#   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 = 22.61;
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 15
#   Segment length 102.446419 meters
#   Minimum depth: 1270.981391 meters looking forward 200.000000 meters along route
#   Maximum depth: 1283.282766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.756010;
longitude = -122.095590;
duration = 204;
initialDepth = 1223.056868;
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:           -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 15
#   Segment length 102.445961 meters
#   Minimum depth: 1273.056868 meters looking forward 200.000000 meters along route
#   Maximum depth: 1283.282766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1223.056868 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 = 1223.056868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0730740000001
#   Actual altitude:          58.0730740000001
#   Commanded vehicle depth:  1223.056868 
#   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 = 17.42;
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 15
#   Segment length 102.445504 meters
#   Minimum depth: 1268.293325 meters looking forward 200.000000 meters along route
#   Maximum depth: 1282.500348 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 102.687215 meters
#   Minimum depth: 1259.437363 meters looking forward 200.000000 meters along route
#   Maximum depth: 1275.998396 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 102.202420 meters
#   Minimum depth: 1251.353314 meters looking forward 200.000000 meters along route
#   Maximum depth: 1268.675164 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 103.209875 meters
#   Minimum depth: 1216.621306 meters looking forward 200.000000 meters along route
#   Maximum depth: 1259.397086 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 101.677930 meters
#   Minimum depth: 1176.397632 meters looking forward 200.000000 meters along route
#   Maximum depth: 1250.653750 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 103.732525 meters
#   Minimum depth: 1136.172082 meters looking forward 200.000000 meters along route
#   Maximum depth: 1216.418188 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 101.153449 meters
#   Minimum depth: 1122.232995 meters looking forward 200.000000 meters along route
#   Maximum depth: 1176.315946 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1072.232995;
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 15
#   Segment length 104.255167 meters
#   Minimum depth: 1122.232995 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.291708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.761688;
longitude = -122.103133;
duration = 208;
initialDepth = 1042.662127;
finalDepth = 1072.232995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8010709999999
#   Actual altitude:          64.8010709999999
#   Commanded vehicle depth:  1072.232995 
#   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 15
#   Segment length 100.628976 meters
#   Minimum depth: 1092.662127 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.291708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 104.777799 meters
#   Minimum depth: 1044.218891 meters looking forward 200.000000 meters along route
#   Maximum depth: 1126.493713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 15
#   Segment length 104.965948 meters
#   Minimum depth: 1008.382670 meters looking forward 200.000000 meters along route
#   Maximum depth: 1082.397733 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 14
#   Segment length 139.273867 meters
#   Minimum depth: 1006.143295 meters looking forward 200.000000 meters along route
#   Maximum depth: 1042.195325 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 14
#   Segment length 104.478210 meters
#   Minimum depth: 1023.969515 meters looking forward 200.000000 meters along route
#   Maximum depth: 1042.195325 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 973.969515;
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 14
#   Segment length 106.240754 meters
#   Minimum depth: 1023.969515 meters looking forward 200.000000 meters along route
#   Maximum depth: 1047.009290 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.763400;
longitude = -122.109048;
duration = 212;
initialDepth = 976.856696;
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:           -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 14
#   Segment length 102.716856 meters
#   Minimum depth: 1026.856696 meters looking forward 200.000000 meters along route
#   Maximum depth: 1048.690876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 14
#   Segment length 104.479401 meters
#   Minimum depth: 1010.007932 meters looking forward 200.000000 meters along route
#   Maximum depth: 1048.690876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 960.007932;
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 14
#   Segment length 106.705137 meters
#   Minimum depth: 1010.007932 meters looking forward 200.000000 meters along route
#   Maximum depth: 1037.768063 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.762318;
longitude = -122.112292;
duration = 213;
initialDepth = 960.192125;
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:           -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 14
#   Segment length 102.254854 meters
#   Minimum depth: 1010.192125 meters looking forward 200.000000 meters along route
#   Maximum depth: 1056.405493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 960.192125 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 = 986.924928;
finalDepth = 960.192125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.590224
#   Actual altitude:          68.590224
#   Commanded vehicle depth:  960.192125 
#   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 = 20.58;
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 14
#   Segment length 104.480590 meters
#   Minimum depth: 1036.924928 meters looking forward 200.000000 meters along route
#   Maximum depth: 1098.193570 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 986.924928 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 = 1007.445450;
finalDepth = 986.924928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.983154
#   Actual altitude:          68.983154
#   Commanded vehicle depth:  986.924928 
#   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 = 20.69;
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 14
#   Segment length 107.169531 meters
#   Minimum depth: 1057.445450 meters looking forward 200.000000 meters along route
#   Maximum depth: 1138.316413 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1007.445450 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 = 1055.031689;
finalDepth = 1007.445450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.562046
#   Actual altitude:          91.562046
#   Commanded vehicle depth:  1007.44545 
#   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 = 27.47;
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 14
#   Segment length 101.792841 meters
#   Minimum depth: 1105.031689 meters looking forward 200.000000 meters along route
#   Maximum depth: 1140.521506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1055.031689 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 = 1055.031689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.562046
#   Actual altitude:          91.562046
#   Commanded vehicle depth:  1055.031689 
#   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 = 27.47;
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 14
#   Segment length 104.481782 meters
#   Minimum depth: 1110.640126 meters looking forward 200.000000 meters along route
#   Maximum depth: 1140.521506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1060.640126;
finalDepth = 1060.640126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.307982
#   Actual altitude:          84.307982
#   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 = 25.29;
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 14
#   Segment length 107.633935 meters
#   Minimum depth: 1110.640126 meters looking forward 200.000000 meters along route
#   Maximum depth: 1167.273662 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.760155;
longitude = -122.118780;
duration = 215;
initialDepth = 1094.202363;
finalDepth = 1060.640126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.6431250000001
#   Actual altitude:          79.6431250000001
#   Commanded vehicle depth:  1060.640126 
#   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 = 23.89;
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 14
#   Segment length 101.330818 meters
#   Minimum depth: 1144.202363 meters looking forward 200.000000 meters along route
#   Maximum depth: 1182.847897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1094.202363 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 = 1119.523203;
finalDepth = 1094.202363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.6431250000001
#   Actual altitude:          79.6431250000001
#   Commanded vehicle depth:  1094.202363 
#   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 = 23.89;
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 14
#   Segment length 104.482972 meters
#   Minimum depth: 1169.523203 meters looking forward 200.000000 meters along route
#   Maximum depth: 1195.261876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1119.523203 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 = 1131.304737;
finalDepth = 1119.523203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.6883739999998
#   Actual altitude:          73.6883739999998
#   Commanded vehicle depth:  1119.523203 
#   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 = 22.11;
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 14
#   Segment length 108.098351 meters
#   Minimum depth: 1181.304737 meters looking forward 200.000000 meters along route
#   Maximum depth: 1205.745561 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.759074;
longitude = -122.122024;
duration = 216;
initialDepth = 1143.354010;
finalDepth = 1131.304737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.723029
#   Actual altitude:          63.723029
#   Commanded vehicle depth:  1131.304737 
#   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 = 19.12;
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 14
#   Segment length 100.868785 meters
#   Minimum depth: 1193.354010 meters looking forward 200.000000 meters along route
#   Maximum depth: 1224.579785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1143.354010 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 = 1156.398750;
finalDepth = 1143.354010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.461102
#   Actual altitude:          61.461102
#   Commanded vehicle depth:  1143.35401 
#   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 = 18.44;
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 14
#   Segment length 104.799733 meters
#   Minimum depth: 1206.398750 meters looking forward 200.000000 meters along route
#   Maximum depth: 1231.200188 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1156.398750 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 = 1175.424698;
finalDepth = 1156.398750;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.4231049999999
#   Actual altitude:          68.4231049999999
#   Commanded vehicle depth:  1156.39875 
#   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 = 20.53;
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 14
#   Segment length 108.247207 meters
#   Minimum depth: 1225.424698 meters looking forward 200.000000 meters along route
#   Maximum depth: 1243.028690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1175.424698 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 = 1182.015704;
finalDepth = 1175.424698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.4231049999999
#   Actual altitude:          68.4231049999999
#   Commanded vehicle depth:  1175.424698 
#   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 = 20.53;
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 14
#   Segment length 100.406740 meters
#   Minimum depth: 1232.015704 meters looking forward 200.000000 meters along route
#   Maximum depth: 1245.194484 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1182.015704 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 = 1190.730026;
finalDepth = 1182.015704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1033080000002
#   Actual altitude:          57.1033080000002
#   Commanded vehicle depth:  1182.015704 
#   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 = 17.13;
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 14
#   Segment length 105.264126 meters
#   Minimum depth: 1240.730026 meters looking forward 200.000000 meters along route
#   Maximum depth: 1245.368403 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1190.730026 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 = 1192.177035;
finalDepth = 1190.730026;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1033080000002
#   Actual altitude:          57.1033080000002
#   Commanded vehicle depth:  1190.730026 
#   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 = 17.13;
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 14
#   Segment length 103.706980 meters
#   Minimum depth: 1242.177035 meters looking forward 200.000000 meters along route
#   Maximum depth: 1251.593822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.756908;
longitude = -122.128521;
duration = 207;
initialDepth = 1194.665929;
finalDepth = 1192.177035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.750168
#   Actual altitude:          53.750168
#   Commanded vehicle depth:  1192.177035 
#   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 = 16.13;
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 14
#   Segment length 104.486149 meters
#   Minimum depth: 1244.665929 meters looking forward 200.000000 meters along route
#   Maximum depth: 1252.222242 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.756551;
longitude = -122.129594;
duration = 208;
initialDepth = 1198.828681;
finalDepth = 1194.665929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4329319999999
#   Actual altitude:          55.4329319999999
#   Commanded vehicle depth:  1194.665929 
#   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 = 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 14
#   Segment length 105.728528 meters
#   Minimum depth: 1248.828681 meters looking forward 200.000000 meters along route
#   Maximum depth: 1256.522561 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1198.828681 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 = 1201.583159;
finalDepth = 1198.828681;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4329319999999
#   Actual altitude:          55.4329319999999
#   Commanded vehicle depth:  1198.828681 
#   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 = 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 14
#   Segment length 103.244960 meters
#   Minimum depth: 1251.583159 meters looking forward 200.000000 meters along route
#   Maximum depth: 1259.150134 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.755825;
longitude = -122.131770;
duration = 206;
initialDepth = 1205.111333;
finalDepth = 1201.583159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0710119999999
#   Actual altitude:          55.0710119999999
#   Commanded vehicle depth:  1201.583159 
#   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 = 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 14
#   Segment length 104.487340 meters
#   Minimum depth: 1255.111333 meters looking forward 200.000000 meters along route
#   Maximum depth: 1268.677723 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.755469;
longitude = -122.132838;
duration = 208;
initialDepth = 1210.059209;
finalDepth = 1205.111333;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0710119999999
#   Actual altitude:          55.0710119999999
#   Commanded vehicle depth:  1205.111333 
#   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 = 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 14
#   Segment length 106.192942 meters
#   Minimum depth: 1260.059209 meters looking forward 200.000000 meters along route
#   Maximum depth: 1268.678236 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1210.059209 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 = 1214.710924;
finalDepth = 1210.059209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.1116469999999
#   Actual altitude:          58.1116469999999
#   Commanded vehicle depth:  1210.059209 
#   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 = 17.43;
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 14
#   Segment length 102.782930 meters
#   Minimum depth: 1264.710924 meters looking forward 200.000000 meters along route
#   Maximum depth: 1271.489274 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.754742;
longitude = -122.135019;
duration = 205;
initialDepth = 1217.027827;
finalDepth = 1214.710924;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.1116469999999
#   Actual altitude:          58.1116469999999
#   Commanded vehicle depth:  1214.710924 
#   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 = 17.43;
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 14
#   Segment length 104.488532 meters
#   Minimum depth: 1267.027827 meters looking forward 200.000000 meters along route
#   Maximum depth: 1273.973915 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.754388;
longitude = -122.136082;
duration = 208;
initialDepth = 1221.368354;
finalDepth = 1217.027827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.015085
#   Actual altitude:          54.015085
#   Commanded vehicle depth:  1217.027827 
#   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 = 16.20;
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 14
#   Segment length 106.657366 meters
#   Minimum depth: 1271.368354 meters looking forward 200.000000 meters along route
#   Maximum depth: 1277.485098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1221.368354;
finalDepth = 1221.368354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.015085
#   Actual altitude:          54.015085
#   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 = 16.20;
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 14
#   Segment length 108.252151 meters
#   Minimum depth: 1271.368354 meters looking forward 200.000000 meters along route
#   Maximum depth: 1282.679355 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.753659;
longitude = -122.138267;
duration = 216;
initialDepth = 1223.327766;
finalDepth = 1221.368354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.9944680000001
#   Actual altitude:          53.9944680000001
#   Commanded vehicle depth:  1221.368354 
#   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 = 16.20;
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 14
#   Segment length 108.252578 meters
#   Minimum depth: 1273.327766 meters looking forward 200.000000 meters along route
#   Maximum depth: 1284.707535 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 14
#   Segment length 108.253004 meters
#   Minimum depth: 1268.773729 meters looking forward 200.000000 meters along route
#   Maximum depth: 1281.286378 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1218.773729;
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 14
#   Segment length 108.253431 meters
#   Minimum depth: 1268.773729 meters looking forward 200.000000 meters along route
#   Maximum depth: 1274.610652 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.752539;
longitude = -122.141628;
duration = 216;
initialDepth = 1211.381603;
finalDepth = 1218.773729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.9602480000001
#   Actual altitude:          53.9602480000001
#   Commanded vehicle depth:  1218.773729 
#   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 14
#   Segment length 104.679675 meters
#   Minimum depth: 1261.381603 meters looking forward 200.000000 meters along route
#   Maximum depth: 1271.677904 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 13
#   Segment length 77.335435 meters
#   Minimum depth: 1251.336603 meters looking forward 200.000000 meters along route
#   Maximum depth: 1270.729642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 13
#   Segment length 105.453924 meters
#   Minimum depth: 1219.585659 meters looking forward 200.000000 meters along route
#   Maximum depth: 1261.381603 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1169.585659;
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 13
#   Segment length 105.454042 meters
#   Minimum depth: 1219.585659 meters looking forward 200.000000 meters along route
#   Maximum depth: 1249.668811 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.750242;
longitude = -122.143181;
duration = 210;
initialDepth = 1173.635452;
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:           -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 13
#   Segment length 110.255820 meters
#   Minimum depth: 1223.635452 meters looking forward 200.000000 meters along route
#   Maximum depth: 1249.895420 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1173.635452 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 = 1173.635452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.4583130000001
#   Actual altitude:          60.4583130000001
#   Commanded vehicle depth:  1173.635452 
#   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 = 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 13
#   Segment length 100.652614 meters
#   Minimum depth: 1230.678794 meters looking forward 200.000000 meters along route
#   Maximum depth: 1249.895420 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 13
#   Segment length 108.948630 meters
#   Minimum depth: 1203.058146 meters looking forward 200.000000 meters along route
#   Maximum depth: 1248.924293 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1153.058146;
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 12
#   Segment length 113.317158 meters
#   Minimum depth: 1203.058146 meters looking forward 200.000000 meters along route
#   Maximum depth: 1246.440518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.746607;
longitude = -122.141666;
duration = 226;
# abortOnTimeout    = True; 
initialDepth = 1165.507309;
finalDepth = 1153.058146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.647352
#   Actual altitude:          72.647352
#   Commanded vehicle depth:  1153.058146 
#   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 12
#   Segment length 106.785409 meters
#   Minimum depth: 1215.507309 meters looking forward 200.000000 meters along route
#   Maximum depth: 1279.768485 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1165.507309 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 = 1196.666784;
finalDepth = 1165.507309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.17183
#   Actual altitude:          81.17183
#   Commanded vehicle depth:  1165.507309 
#   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 = 24.35;
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 12
#   Segment length 102.510049 meters
#   Minimum depth: 1246.666784 meters looking forward 200.000000 meters along route
#   Maximum depth: 1304.937158 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.747365;
longitude = -122.139388;
duration = 205;
initialDepth = 1233.431853;
finalDepth = 1196.666784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.314433
#   Actual altitude:          84.314433
#   Commanded vehicle depth:  1196.666784 
#   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 = 25.29;
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 12
#   Segment length 104.647132 meters
#   Minimum depth: 1283.431853 meters looking forward 200.000000 meters along route
#   Maximum depth: 1311.952503 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1233.431853 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 = 1256.022151;
finalDepth = 1233.431853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.314433
#   Actual altitude:          84.314433
#   Commanded vehicle depth:  1233.431853 
#   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 = 25.29;
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 12
#   Segment length 106.715604 meters
#   Minimum depth: 1306.022151 meters looking forward 200.000000 meters along route
#   Maximum depth: 1312.086955 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1256.022151 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 = 1256.316103;
finalDepth = 1256.022151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.7555109999998
#   Actual altitude:          70.7555109999998
#   Commanded vehicle depth:  1256.022151 
#   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 = 21.23;
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 102.577466 meters
#   Minimum depth: 1306.316103 meters looking forward 200.000000 meters along route
#   Maximum depth: 1311.984836 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.748446;
longitude = -122.136139;
duration = 205;
initialDepth = 1256.100355;
finalDepth = 1256.316103;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0648040000001
#   Actual altitude:          56.0648040000001
#   Commanded vehicle depth:  1256.316103 
#   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 = 16.82;
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 12
#   Segment length 104.645938 meters
#   Minimum depth: 1306.100355 meters looking forward 200.000000 meters along route
#   Maximum depth: 1311.897161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 106.645801 meters
#   Minimum depth: 1304.003192 meters looking forward 200.000000 meters along route
#   Maximum depth: 1311.897161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 102.644882 meters
#   Minimum depth: 1303.143312 meters looking forward 200.000000 meters along route
#   Maximum depth: 1307.656102 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 104.644744 meters
#   Minimum depth: 1302.612014 meters looking forward 200.000000 meters along route
#   Maximum depth: 1306.076968 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 106.575999 meters
#   Minimum depth: 1298.363149 meters looking forward 200.000000 meters along route
#   Maximum depth: 1306.076968 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 102.712297 meters
#   Minimum depth: 1289.551323 meters looking forward 200.000000 meters along route
#   Maximum depth: 1302.942647 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 104.643551 meters
#   Minimum depth: 1282.336990 meters looking forward 200.000000 meters along route
#   Maximum depth: 1296.150068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 106.506199 meters
#   Minimum depth: 1271.099390 meters looking forward 200.000000 meters along route
#   Maximum depth: 1290.039966 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 102.779710 meters
#   Minimum depth: 1257.984211 meters looking forward 200.000000 meters along route
#   Maximum depth: 1279.519892 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 104.642358 meters
#   Minimum depth: 1252.812571 meters looking forward 200.000000 meters along route
#   Maximum depth: 1267.000635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 106.436400 meters
#   Minimum depth: 1251.499942 meters looking forward 200.000000 meters along route
#   Maximum depth: 1258.089004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1201.499942;
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 12
#   Segment length 102.847122 meters
#   Minimum depth: 1251.499942 meters looking forward 200.000000 meters along route
#   Maximum depth: 1261.318418 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.752771;
longitude = -122.123143;
duration = 205;
initialDepth = 1205.083545;
finalDepth = 1201.499942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.4034830000001
#   Actual altitude:          56.4034830000001
#   Commanded vehicle depth:  1201.499942 
#   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 = 16.92;
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 12
#   Segment length 104.641165 meters
#   Minimum depth: 1255.083545 meters looking forward 200.000000 meters along route
#   Maximum depth: 1262.521353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1205.083545;
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 12
#   Segment length 106.366604 meters
#   Minimum depth: 1255.083545 meters looking forward 200.000000 meters along route
#   Maximum depth: 1260.886438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.753486;
longitude = -122.120995;
duration = 212;
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:           -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 12
#   Segment length 102.914532 meters
#   Minimum depth: 1255.260992 meters looking forward 200.000000 meters along route
#   Maximum depth: 1259.568051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.753853;
longitude = -122.119894;
duration = 205;
initialDepth = 1199.827985;
finalDepth = 1205.260992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4350670000001
#   Actual altitude:          51.4350670000001
#   Commanded vehicle depth:  1205.260992 
#   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 = 15.43;
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 104.639972 meters
#   Minimum depth: 1249.827985 meters looking forward 200.000000 meters along route
#   Maximum depth: 1258.336911 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 106.296810 meters
#   Minimum depth: 1241.298131 meters looking forward 200.000000 meters along route
#   Maximum depth: 1257.163417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 102.981941 meters
#   Minimum depth: 1222.798370 meters looking forward 200.000000 meters along route
#   Maximum depth: 1249.998896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 104.638779 meters
#   Minimum depth: 1195.707425 meters looking forward 200.000000 meters along route
#   Maximum depth: 1241.507137 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 106.227017 meters
#   Minimum depth: 1185.148917 meters looking forward 200.000000 meters along route
#   Maximum depth: 1215.190625 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 103.049349 meters
#   Minimum depth: 1181.275270 meters looking forward 200.000000 meters along route
#   Maximum depth: 1193.656530 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 104.637586 meters
#   Minimum depth: 1173.231538 meters looking forward 200.000000 meters along route
#   Maximum depth: 1187.352422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 106.157227 meters
#   Minimum depth: 1150.996909 meters looking forward 200.000000 meters along route
#   Maximum depth: 1183.776553 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 108.221295 meters
#   Minimum depth: 1123.566328 meters looking forward 200.000000 meters along route
#   Maximum depth: 1171.523839 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 108.220871 meters
#   Minimum depth: 1112.558225 meters looking forward 200.000000 meters along route
#   Maximum depth: 1143.829635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 12
#   Segment length 108.220445 meters
#   Minimum depth: 1109.795138 meters looking forward 200.000000 meters along route
#   Maximum depth: 1118.880635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1059.795138;
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 12
#   Segment length 100.999103 meters
#   Minimum depth: 1109.795138 meters looking forward 200.000000 meters along route
#   Maximum depth: 1131.670880 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.758215;
longitude = -122.106787;
duration = 201;
initialDepth = 1060.151472;
finalDepth = 1059.795138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.416062
#   Actual altitude:          55.416062
#   Commanded vehicle depth:  1059.795138 
#   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 11
#   Segment length 122.657135 meters
#   Minimum depth: 1110.151472 meters looking forward 200.000000 meters along route
#   Maximum depth: 1153.886644 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.758563;
longitude = -122.105741;
duration = 245;
# abortOnTimeout    = True; 
initialDepth = 1076.230195;
finalDepth = 1060.151472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.9526539999999
#   Actual altitude:          75.9526539999999
#   Commanded vehicle depth:  1060.151472 
#   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 = 22.79;
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 11
#   Segment length 108.257256 meters
#   Minimum depth: 1126.230195 meters looking forward 200.000000 meters along route
#   Maximum depth: 1184.815222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.757542;
longitude = -122.105214;
duration = 216;
initialDepth = 1103.425375;
finalDepth = 1076.230195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.9526539999999
#   Actual altitude:          75.9526539999999
#   Commanded vehicle depth:  1076.230195 
#   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 = 22.79;
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 11
#   Segment length 108.257437 meters
#   Minimum depth: 1153.425375 meters looking forward 200.000000 meters along route
#   Maximum depth: 1235.370078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1103.425375 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 = 1155.544275;
finalDepth = 1103.425375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.1286259999999
#   Actual altitude:          85.1286259999999
#   Commanded vehicle depth:  1103.425375 
#   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 = 25.54;
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 11
#   Segment length 108.257619 meters
#   Minimum depth: 1205.544275 meters looking forward 200.000000 meters along route
#   Maximum depth: 1272.658391 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1155.544275 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 = 1198.570304;
finalDepth = 1155.544275;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.1286259999999
#   Actual altitude:          85.1286259999999
#   Commanded vehicle depth:  1155.544275 
#   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 = 25.54;
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 11
#   Segment length 108.257800 meters
#   Minimum depth: 1248.570304 meters looking forward 200.000000 meters along route
#   Maximum depth: 1288.931220 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1198.570304 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 = 1221.584101;
finalDepth = 1198.570304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.0422290000001
#   Actual altitude:          82.0422290000001
#   Commanded vehicle depth:  1198.570304 
#   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 = 24.61;
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 11
#   Segment length 108.257982 meters
#   Minimum depth: 1271.584101 meters looking forward 200.000000 meters along route
#   Maximum depth: 1313.824051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1221.584101 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 = 1238.855667;
finalDepth = 1221.584101;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.0292100000001
#   Actual altitude:          72.0292100000001
#   Commanded vehicle depth:  1221.584101 
#   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 = 21.61;
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 11
#   Segment length 100.982718 meters
#   Minimum depth: 1288.855667 meters looking forward 200.000000 meters along route
#   Maximum depth: 1328.687253 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.753036;
longitude = -122.102889;
duration = 201;
initialDepth = 1265.096925;
finalDepth = 1238.855667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       73.4333139999999
#   Actual altitude:          73.4333139999999
#   Commanded vehicle depth:  1238.855667 
#   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 = 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;
}
# 
#######################################################
# 
# 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 121.737159 meters
#   Minimum depth: 1315.096925 meters looking forward 200.000000 meters along route
#   Maximum depth: 1341.597920 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1265.096925 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 = 1278.577633;
finalDepth = 1265.096925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.4333139999999
#   Actual altitude:          73.4333139999999
#   Commanded vehicle depth:  1265.096925 
#   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 = 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 10
#   Segment length 104.226438 meters
#   Minimum depth: 1328.577633 meters looking forward 200.000000 meters along route
#   Maximum depth: 1350.075584 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.751774;
longitude = -122.103714;
duration = 208;
initialDepth = 1289.444876;
finalDepth = 1278.577633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.614714
#   Actual altitude:          63.614714
#   Commanded vehicle depth:  1278.577633 
#   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 = 19.08;
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 10
#   Segment length 106.132829 meters
#   Minimum depth: 1339.444876 meters looking forward 200.000000 meters along route
#   Maximum depth: 1352.228295 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.751413;
longitude = -122.104792;
duration = 212;
initialDepth = 1294.085224;
finalDepth = 1289.444876;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.152257
#   Actual altitude:          63.152257
#   Commanded vehicle depth:  1289.444876 
#   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 = 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 10
#   Segment length 102.321233 meters
#   Minimum depth: 1344.085224 meters looking forward 200.000000 meters along route
#   Maximum depth: 1352.228295 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       57.3737839999999
#   Actual altitude:          57.3737839999999
#   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 = 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 10
#   Segment length 104.227624 meters
#   Minimum depth: 1339.350938 meters looking forward 200.000000 meters along route
#   Maximum depth: 1350.261788 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 107.531993 meters
#   Minimum depth: 1334.984895 meters looking forward 200.000000 meters along route
#   Maximum depth: 1347.168400 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 100.924441 meters
#   Minimum depth: 1332.250212 meters looking forward 200.000000 meters along route
#   Maximum depth: 1342.463617 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 104.854615 meters
#   Minimum depth: 1326.016203 meters looking forward 200.000000 meters along route
#   Maximum depth: 1336.883549 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 103.603400 meters
#   Minimum depth: 1310.309489 meters looking forward 200.000000 meters along route
#   Maximum depth: 1335.241416 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 104.229601 meters
#   Minimum depth: 1301.359193 meters looking forward 200.000000 meters along route
#   Maximum depth: 1323.794206 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1251.359193;
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 10
#   Segment length 106.253790 meters
#   Minimum depth: 1301.359193 meters looking forward 200.000000 meters along route
#   Maximum depth: 1308.314071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.748529;
longitude = -122.113418;
duration = 212;
initialDepth = 1252.138679;
finalDepth = 1251.359193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.332782
#   Actual altitude:          62.332782
#   Commanded vehicle depth:  1251.359193 
#   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 10
#   Segment length 102.206597 meters
#   Minimum depth: 1302.138679 meters looking forward 200.000000 meters along route
#   Maximum depth: 1308.314071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.748162;
longitude = -122.114517;
duration = 204;
initialDepth = 1254.505648;
finalDepth = 1252.138679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.367264
#   Actual altitude:          53.367264
#   Commanded vehicle depth:  1252.138679 
#   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 = 16.01;
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 10
#   Segment length 104.230787 meters
#   Minimum depth: 1304.505648 meters looking forward 200.000000 meters along route
#   Maximum depth: 1325.053313 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.747808;
longitude = -122.115574;
duration = 208;
initialDepth = 1260.531351;
finalDepth = 1254.505648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.615994
#   Actual altitude:          53.615994
#   Commanded vehicle depth:  1254.505648 
#   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 = 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 10
#   Segment length 107.652999 meters
#   Minimum depth: 1310.531351 meters looking forward 200.000000 meters along route
#   Maximum depth: 1343.544705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1260.531351 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 = 1277.277478;
finalDepth = 1260.531351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.6711029999999
#   Actual altitude:          64.6711029999999
#   Commanded vehicle depth:  1260.531351 
#   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 = 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 10
#   Segment length 100.809760 meters
#   Minimum depth: 1327.277478 meters looking forward 200.000000 meters along route
#   Maximum depth: 1363.116609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1277.277478 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 = 1296.282348;
finalDepth = 1277.277478;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.875012
#   Actual altitude:          66.875012
#   Commanded vehicle depth:  1277.277478 
#   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 = 20.06;
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 10
#   Segment length 104.975541 meters
#   Minimum depth: 1346.282348 meters looking forward 200.000000 meters along route
#   Maximum depth: 1370.326957 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1296.282348 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 = 1296.282348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.875012
#   Actual altitude:          66.875012
#   Commanded vehicle depth:  1296.282348 
#   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 = 20.06;
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 10
#   Segment length 103.488801 meters
#   Minimum depth: 1358.665794 meters looking forward 200.000000 meters along route
#   Maximum depth: 1370.326957 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       66.780256
#   Actual altitude:          66.780256
#   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 = 20.03;
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 10
#   Segment length 104.232764 meters
#   Minimum depth: 1347.252279 meters looking forward 200.000000 meters along route
#   Maximum depth: 1366.145543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1297.252279;
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 10
#   Segment length 106.374761 meters
#   Minimum depth: 1347.252279 meters looking forward 200.000000 meters along route
#   Maximum depth: 1358.703993 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.745645;
longitude = -122.122043;
duration = 212;
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:           -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 10
#   Segment length 102.091954 meters
#   Minimum depth: 1348.528834 meters looking forward 200.000000 meters along route
#   Maximum depth: 1384.803018 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.745278;
longitude = -122.123143;
duration = 204;
initialDepth = 1309.456532;
finalDepth = 1298.528834;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.582071
#   Actual altitude:          60.582071
#   Commanded vehicle depth:  1298.528834 
#   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 = 18.17;
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 10
#   Segment length 104.233950 meters
#   Minimum depth: 1359.456532 meters looking forward 200.000000 meters along route
#   Maximum depth: 1409.380221 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1309.456532 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 = 1340.309071;
finalDepth = 1309.456532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.592067
#   Actual altitude:          76.592067
#   Commanded vehicle depth:  1309.456532 
#   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 = 22.98;
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 10
#   Segment length 107.774014 meters
#   Minimum depth: 1390.309071 meters looking forward 200.000000 meters along route
#   Maximum depth: 1445.115115 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1340.309071 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 = 1362.136827;
finalDepth = 1340.309071;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.592067
#   Actual altitude:          76.592067
#   Commanded vehicle depth:  1340.309071 
#   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 = 22.98;
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 10
#   Segment length 100.695075 meters
#   Minimum depth: 1412.136827 meters looking forward 200.000000 meters along route
#   Maximum depth: 1450.606815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1362.136827 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 = 1362.136827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.210274
#   Actual altitude:          84.210274
#   Commanded vehicle depth:  1362.136827 
#   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 = 25.26;
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 10
#   Segment length 105.096474 meters
#   Minimum depth: 1390.362925 meters looking forward 200.000000 meters along route
#   Maximum depth: 1450.606815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 103.374196 meters
#   Minimum depth: 1351.729234 meters looking forward 200.000000 meters along route
#   Maximum depth: 1437.442697 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 104.235929 meters
#   Minimum depth: 1335.751932 meters looking forward 200.000000 meters along route
#   Maximum depth: 1386.431832 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 106.495739 meters
#   Minimum depth: 1319.187186 meters looking forward 200.000000 meters along route
#   Maximum depth: 1347.139957 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 101.977306 meters
#   Minimum depth: 1306.091562 meters looking forward 200.000000 meters along route
#   Maximum depth: 1332.183589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 104.237116 meters
#   Minimum depth: 1290.675104 meters looking forward 200.000000 meters along route
#   Maximum depth: 1318.838061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 107.895036 meters
#   Minimum depth: 1280.833760 meters looking forward 200.000000 meters along route
#   Maximum depth: 1301.924629 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 108.314439 meters
#   Minimum depth: 1276.460000 meters looking forward 200.000000 meters along route
#   Maximum depth: 1290.932728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 108.314867 meters
#   Minimum depth: 1262.207316 meters looking forward 200.000000 meters along route
#   Maximum depth: 1290.599266 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 10
#   Segment length 101.117674 meters
#   Minimum depth: 1257.637651 meters looking forward 200.000000 meters along route
#   Maximum depth: 1280.541722 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 9
#   Segment length 85.166243 meters
#   Minimum depth: 1257.637651 meters looking forward 200.000000 meters along route
#   Maximum depth: 1269.054495 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1207.637651;
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 9
#   Segment length 102.133414 meters
#   Minimum depth: 1257.637651 meters looking forward 200.000000 meters along route
#   Maximum depth: 1272.466251 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.739502;
longitude = -122.137931;
duration = 204;
initialDepth = 1216.406638;
finalDepth = 1207.637651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0775510000001
#   Actual altitude:          56.0775510000001
#   Commanded vehicle depth:  1207.637651 
#   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 = 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 9
#   Segment length 102.475694 meters
#   Minimum depth: 1266.406638 meters looking forward 200.000000 meters along route
#   Maximum depth: 1277.760580 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1216.406638 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 = 1216.406638;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0775510000001
#   Actual altitude:          56.0775510000001
#   Commanded vehicle depth:  1216.406638 
#   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 = 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 9
#   Segment length 101.791636 meters
#   Minimum depth: 1269.226916 meters looking forward 200.000000 meters along route
#   Maximum depth: 1278.278849 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1221.682080;
finalDepth = 1219.226916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8948520000001
#   Actual altitude:          52.8948520000001
#   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 = 15.87;
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 9
#   Segment length 102.133917 meters
#   Minimum depth: 1271.682080 meters looking forward 200.000000 meters along route
#   Maximum depth: 1282.169537 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1221.682080 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 = 1226.343977;
finalDepth = 1221.682080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.2283239999999
#   Actual altitude:          56.2283239999999
#   Commanded vehicle depth:  1221.68208 
#   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 = 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 9
#   Segment length 102.134085 meters
#   Minimum depth: 1276.343977 meters looking forward 200.000000 meters along route
#   Maximum depth: 1290.384268 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.736113;
longitude = -122.136139;
duration = 204;
initialDepth = 1232.088865;
finalDepth = 1226.343977;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.2283239999999
#   Actual altitude:          56.2283239999999
#   Commanded vehicle depth:  1226.343977 
#   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 = 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 9
#   Segment length 106.874365 meters
#   Minimum depth: 1282.088865 meters looking forward 200.000000 meters along route
#   Maximum depth: 1299.099762 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1232.088865 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 = 1240.498373;
finalDepth = 1232.088865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3105520000001
#   Actual altitude:          58.3105520000001
#   Commanded vehicle depth:  1232.088865 
#   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 = 17.49;
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 9
#   Segment length 108.667299 meters
#   Minimum depth: 1290.498373 meters looking forward 200.000000 meters along route
#   Maximum depth: 1309.692463 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1240.498373 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 = 1254.086255;
finalDepth = 1240.498373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.6285680000001
#   Actual altitude:          59.6285680000001
#   Commanded vehicle depth:  1240.498373 
#   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 = 17.89;
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 9
#   Segment length 108.667488 meters
#   Minimum depth: 1304.086255 meters looking forward 200.000000 meters along route
#   Maximum depth: 1316.878472 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1254.086255 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 = 1261.669027;
finalDepth = 1254.086255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.6285680000001
#   Actual altitude:          59.6285680000001
#   Commanded vehicle depth:  1254.086255 
#   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 = 17.89;
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 9
#   Segment length 101.464806 meters
#   Minimum depth: 1311.669027 meters looking forward 200.000000 meters along route
#   Maximum depth: 1334.494452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1261.669027 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 = 1279.692150;
finalDepth = 1261.669027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.3776310000001
#   Actual altitude:          57.3776310000001
#   Commanded vehicle depth:  1261.669027 
#   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 = 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;
}
# 
#######################################################
# 
# 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 164.772107 meters
#   Minimum depth: 1329.692150 meters looking forward 200.000000 meters along route
#   Maximum depth: 1353.642320 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1279.692150 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 = 1289.627173;
finalDepth = 1279.692150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.3776310000001
#   Actual altitude:          57.3776310000001
#   Commanded vehicle depth:  1279.69215 
#   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 = 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 8
#   Segment length 107.490706 meters
#   Minimum depth: 1339.627173 meters looking forward 200.000000 meters along route
#   Maximum depth: 1372.518484 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1289.627173 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 = 1309.097036;
finalDepth = 1289.627173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8514
#   Actual altitude:          64.8514
#   Commanded vehicle depth:  1289.627173 
#   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 = 19.46;
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 8
#   Segment length 107.490300 meters
#   Minimum depth: 1359.097036 meters looking forward 200.000000 meters along route
#   Maximum depth: 1390.367870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1309.097036 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 = 1331.054189;
finalDepth = 1309.097036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.554709
#   Actual altitude:          66.554709
#   Commanded vehicle depth:  1309.097036 
#   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 = 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 8
#   Segment length 107.489893 meters
#   Minimum depth: 1381.054189 meters looking forward 200.000000 meters along route
#   Maximum depth: 1393.047217 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1331.054189 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 = 1338.963171;
finalDepth = 1331.054189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.554709
#   Actual altitude:          66.554709
#   Commanded vehicle depth:  1331.054189 
#   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 = 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 8
#   Segment length 107.489486 meters
#   Minimum depth: 1388.963171 meters looking forward 200.000000 meters along route
#   Maximum depth: 1400.766094 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.733343;
longitude = -122.128745;
duration = 214;
initialDepth = 1344.005581;
finalDepth = 1338.963171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.3870440000001
#   Actual altitude:          59.3870440000001
#   Commanded vehicle depth:  1338.963171 
#   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 = 17.82;
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 107.489079 meters
#   Minimum depth: 1394.005581 meters looking forward 200.000000 meters along route
#   Maximum depth: 1408.867679 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1344.005581 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 = 1349.821097;
finalDepth = 1344.005581;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4569740000002
#   Actual altitude:          55.4569740000002
#   Commanded vehicle depth:  1344.005581 
#   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 = 16.64;
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 8
#   Segment length 107.488673 meters
#   Minimum depth: 1399.821097 meters looking forward 200.000000 meters along route
#   Maximum depth: 1419.871758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1349.821097 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 = 1363.094578;
finalDepth = 1349.821097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0402340000001
#   Actual altitude:          61.0402340000001
#   Commanded vehicle depth:  1349.821097 
#   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 = 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 8
#   Segment length 107.488267 meters
#   Minimum depth: 1413.094578 meters looking forward 200.000000 meters along route
#   Maximum depth: 1425.895304 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1363.094578 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 = 1363.094578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0402340000001
#   Actual altitude:          61.0402340000001
#   Commanded vehicle depth:  1363.094578 
#   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 = 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 8
#   Segment length 103.019745 meters
#   Minimum depth: 1419.813751 meters looking forward 200.000000 meters along route
#   Maximum depth: 1426.765666 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       57.1472690000001
#   Actual altitude:          57.1472690000001
#   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 = 17.14;
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 8
#   Segment length 101.206841 meters
#   Minimum depth: 1419.018172 meters looking forward 200.000000 meters along route
#   Maximum depth: 1426.765666 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1369.018172;
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 8
#   Segment length 107.487087 meters
#   Minimum depth: 1419.018172 meters looking forward 200.000000 meters along route
#   Maximum depth: 1428.834412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.735435;
longitude = -122.122135;
duration = 214;
initialDepth = 1371.571399;
finalDepth = 1369.018172;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4441689999999
#   Actual altitude:          52.4441689999999
#   Commanded vehicle depth:  1369.018172 
#   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 8
#   Segment length 107.486681 meters
#   Minimum depth: 1421.571399 meters looking forward 200.000000 meters along route
#   Maximum depth: 1433.270619 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1371.571399 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 = 1375.206503;
finalDepth = 1371.571399;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8057510000001
#   Actual altitude:          56.8057510000001
#   Commanded vehicle depth:  1371.571399 
#   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 = 17.04;
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 8
#   Segment length 107.486275 meters
#   Minimum depth: 1425.206503 meters looking forward 200.000000 meters along route
#   Maximum depth: 1437.331334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1375.206503 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 = 1383.687889;
finalDepth = 1375.206503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5335169999998
#   Actual altitude:          57.5335169999998
#   Commanded vehicle depth:  1375.206503 
#   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 = 17.26;
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 8
#   Segment length 107.485867 meters
#   Minimum depth: 1433.687889 meters looking forward 200.000000 meters along route
#   Maximum depth: 1442.392551 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1383.687889 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 = 1386.865062;
finalDepth = 1383.687889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5335169999998
#   Actual altitude:          57.5335169999998
#   Commanded vehicle depth:  1383.687889 
#   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 = 17.26;
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 8
#   Segment length 107.485462 meters
#   Minimum depth: 1436.865062 meters looking forward 200.000000 meters along route
#   Maximum depth: 1442.419464 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 1386.865062 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 = 1386.865062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6051849999999
#   Actual altitude:          53.6051849999999
#   Commanded vehicle depth:  1386.865062 
#   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 = 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 8
#   Segment length 107.485055 meters
#   Minimum depth: 1437.006957 meters looking forward 200.000000 meters along route
#   Maximum depth: 1442.419464 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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:       53.6051849999999
#   Actual altitude:          53.6051849999999
#   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 = 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 8
#   Segment length 107.484649 meters
#   Minimum depth: 1435.768742 meters looking forward 200.000000 meters along route
#   Maximum depth: 1440.023738 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1385.768742;
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 8
#   Segment length 102.715270 meters
#   Minimum depth: 1435.768742 meters looking forward 200.000000 meters along route
#   Maximum depth: 1443.466193 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.737917;
longitude = -122.114293;
duration = 205;
initialDepth = 1385.751276;
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:           -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 8
#   Segment length 101.504443 meters
#   Minimum depth: 1435.751276 meters looking forward 200.000000 meters along route
#   Maximum depth: 1443.466193 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1385.751276;
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 8
#   Segment length 107.483470 meters
#   Minimum depth: 1435.751276 meters looking forward 200.000000 meters along route
#   Maximum depth: 1444.568016 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.738590;
longitude = -122.112164;
duration = 214;
initialDepth = 1390.955466;
finalDepth = 1385.751276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.980401
#   Actual altitude:          55.980401
#   Commanded vehicle depth:  1385.751276 
#   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 = 16.79;
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 8
#   Segment length 107.483064 meters
#   Minimum depth: 1440.955466 meters looking forward 200.000000 meters along route
#   Maximum depth: 1448.269005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.738945;
longitude = -122.111044;
duration = 214;
initialDepth = 1394.544538;
finalDepth = 1390.955466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.980401
#   Actual altitude:          55.980401
#   Commanded vehicle depth:  1390.955466 
#   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 = 16.79;
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 8
#   Segment length 107.482658 meters
#   Minimum depth: 1444.544538 meters looking forward 200.000000 meters along route
#   Maximum depth: 1452.832297 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.739299;
longitude = -122.109923;
duration = 214;
initialDepth = 1394.815206;
finalDepth = 1394.544538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0771340000001
#   Actual altitude:          54.0771340000001
#   Commanded vehicle depth:  1394.544538 
#   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 = 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 8
#   Segment length 107.482252 meters
#   Minimum depth: 1444.815206 meters looking forward 200.000000 meters along route
#   Maximum depth: 1452.832297 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 8
#   Segment length 107.481845 meters
#   Minimum depth: 1437.539995 meters looking forward 200.000000 meters along route
#   Maximum depth: 1448.890566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 8
#   Segment length 107.481439 meters
#   Minimum depth: 1434.449145 meters looking forward 200.000000 meters along route
#   Maximum depth: 1446.045153 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 8
#   Segment length 107.481033 meters
#   Minimum depth: 1430.108076 meters looking forward 200.000000 meters along route
#   Maximum depth: 1438.393267 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 8
#   Segment length 102.410817 meters
#   Minimum depth: 1428.740394 meters looking forward 200.000000 meters along route
#   Maximum depth: 1435.072476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 8
#   Segment length 101.802026 meters
#   Minimum depth: 1423.298485 meters looking forward 200.000000 meters along route
#   Maximum depth: 1432.628276 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 8
#   Segment length 107.479855 meters
#   Minimum depth: 1384.923831 meters looking forward 200.000000 meters along route
#   Maximum depth: 1431.586598 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 8
#   Segment length 100.345696 meters
#   Minimum depth: 1360.564479 meters looking forward 200.000000 meters along route
#   Maximum depth: 1414.231126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 83.731973 meters
#   Minimum depth: 1359.439815 meters looking forward 200.000000 meters along route
#   Maximum depth: 1384.923831 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 103.486826 meters
#   Minimum depth: 1338.112636 meters looking forward 200.000000 meters along route
#   Maximum depth: 1364.835793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 106.970126 meters
#   Minimum depth: 1311.023188 meters looking forward 200.000000 meters along route
#   Maximum depth: 1357.916200 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 100.002321 meters
#   Minimum depth: 1293.203879 meters looking forward 200.000000 meters along route
#   Maximum depth: 1337.365022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 103.657578 meters
#   Minimum depth: 1274.458359 meters looking forward 200.000000 meters along route
#   Maximum depth: 1309.942002 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 103.313264 meters
#   Minimum depth: 1259.144631 meters looking forward 200.000000 meters along route
#   Maximum depth: 1292.848760 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 103.484819 meters
#   Minimum depth: 1248.103742 meters looking forward 200.000000 meters along route
#   Maximum depth: 1270.670576 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 105.477409 meters
#   Minimum depth: 1236.637319 meters looking forward 200.000000 meters along route
#   Maximum depth: 1255.505263 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 101.491025 meters
#   Minimum depth: 1223.371174 meters looking forward 200.000000 meters along route
#   Maximum depth: 1247.171192 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 103.483614 meters
#   Minimum depth: 1217.699612 meters looking forward 200.000000 meters along route
#   Maximum depth: 1235.477521 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1167.699612;
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 7
#   Segment length 103.483214 meters
#   Minimum depth: 1217.699612 meters looking forward 200.000000 meters along route
#   Maximum depth: 1226.298402 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.749169;
longitude = -122.092334;
duration = 206;
initialDepth = 1155.273932;
finalDepth = 1167.699612;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7873440000001
#   Actual altitude:          54.7873440000001
#   Commanded vehicle depth:  1167.699612 
#   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 7
#   Segment length 103.482811 meters
#   Minimum depth: 1205.273932 meters looking forward 200.000000 meters along route
#   Maximum depth: 1220.975283 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 7
#   Segment length 108.475277 meters
#   Minimum depth: 1201.443036 meters looking forward 200.000000 meters along route
#   Maximum depth: 1214.545434 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 163.942659 meters
#   Minimum depth: 1200.604376 meters looking forward 200.000000 meters along route
#   Maximum depth: 1213.496071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.630881 meters
#   Minimum depth: 1193.032760 meters looking forward 200.000000 meters along route
#   Maximum depth: 1213.496071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.630475 meters
#   Minimum depth: 1172.613491 meters looking forward 200.000000 meters along route
#   Maximum depth: 1210.051984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.630072 meters
#   Minimum depth: 1147.712724 meters looking forward 200.000000 meters along route
#   Maximum depth: 1191.053231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.629667 meters
#   Minimum depth: 1137.017752 meters looking forward 200.000000 meters along route
#   Maximum depth: 1167.693230 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.629263 meters
#   Minimum depth: 1135.265746 meters looking forward 200.000000 meters along route
#   Maximum depth: 1146.399521 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 1085.265746;
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 6
#   Segment length 100.628858 meters
#   Minimum depth: 1135.265746 meters looking forward 200.000000 meters along route
#   Maximum depth: 1141.391112 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 36.753952;
longitude = -122.083260;
duration = 201;
initialDepth = 1081.879903;
finalDepth = 1085.265746;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7584239999999
#   Actual altitude:          55.7584239999999
#   Commanded vehicle depth:  1085.265746 
#   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 6
#   Segment length 100.628455 meters
#   Minimum depth: 1131.879903 meters looking forward 200.000000 meters along route
#   Maximum depth: 1141.391112 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.628050 meters
#   Minimum depth: 1124.065870 meters looking forward 200.000000 meters along route
#   Maximum depth: 1139.456316 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.627646 meters
#   Minimum depth: 1101.507310 meters looking forward 200.000000 meters along route
#   Maximum depth: 1133.901794 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.627242 meters
#   Minimum depth: 1082.289747 meters looking forward 200.000000 meters along route
#   Maximum depth: 1120.755503 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.626837 meters
#   Minimum depth: 1073.934656 meters looking forward 200.000000 meters along route
#   Maximum depth: 1101.928724 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.626434 meters
#   Minimum depth: 1070.552512 meters looking forward 200.000000 meters along route
#   Maximum depth: 1082.697927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.626029 meters
#   Minimum depth: 1050.100696 meters looking forward 200.000000 meters along route
#   Maximum depth: 1077.527123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.625625 meters
#   Minimum depth: 1026.898999 meters looking forward 200.000000 meters along route
#   Maximum depth: 1074.113216 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.625221 meters
#   Minimum depth: 999.377213 meters looking forward 200.000000 meters along route
#   Maximum depth: 1047.774138 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 100.624817 meters
#   Minimum depth: 989.685671 meters looking forward 200.000000 meters along route
#   Maximum depth: 1021.138555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 6
#   Segment length 104.371361 meters
#   Minimum depth: 969.451563 meters looking forward 200.000000 meters along route
#   Maximum depth: 1008.485093 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 162.547466 meters
#   Minimum depth: 963.026960 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.728221 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 108.041882 meters
#   Minimum depth: 950.061985 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.669672 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 110.708663 meters
#   Minimum depth: 909.230112 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.522792 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 102.467170 meters
#   Minimum depth: 888.651533 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.576115 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 107.071955 meters
#   Minimum depth: 867.538628 meters looking forward 200.000000 meters along route
#   Maximum depth: 900.833604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 107.071647 meters
#   Minimum depth: 858.411503 meters looking forward 200.000000 meters along route
#   Maximum depth: 882.630312 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 107.769381 meters
#   Minimum depth: 845.076272 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.879525 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 110.707069 meters
#   Minimum depth: 823.767781 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.848186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 102.736641 meters
#   Minimum depth: 809.983944 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.954987 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 100.225464 meters
#   Minimum depth: 783.471187 meters looking forward 200.000000 meters along route
#   Maximum depth: 827.963882 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 102.018392 meters
#   Minimum depth: 751.979613 meters looking forward 200.000000 meters along route
#   Maximum depth: 807.485454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 107.069831 meters
#   Minimum depth: 721.303243 meters looking forward 200.000000 meters along route
#   Maximum depth: 779.124314 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 107.069523 meters
#   Minimum depth: 703.129821 meters looking forward 200.000000 meters along route
#   Maximum depth: 739.920484 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 108.213985 meters
#   Minimum depth: 675.802587 meters looking forward 200.000000 meters along route
#   Maximum depth: 715.199887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 110.704872 meters
#   Minimum depth: 627.615850 meters looking forward 200.000000 meters along route
#   Maximum depth: 698.470421 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 102.287863 meters
#   Minimum depth: 606.635961 meters looking forward 200.000000 meters along route
#   Maximum depth: 665.404362 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 100.670214 meters
#   Minimum depth: 576.583870 meters looking forward 200.000000 meters along route
#   Maximum depth: 625.312886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 101.569631 meters
#   Minimum depth: 556.417821 meters looking forward 200.000000 meters along route
#   Maximum depth: 600.914970 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 101.387338 meters
#   Minimum depth: 531.198769 meters looking forward 200.000000 meters along route
#   Maximum depth: 575.590805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 100.851407 meters
#   Minimum depth: 503.318522 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.884743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 107.067125 meters
#   Minimum depth: 472.819506 meters looking forward 200.000000 meters along route
#   Maximum depth: 527.192063 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 107.066818 meters
#   Minimum depth: 442.254667 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.615213 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 5
#   Segment length 103.165709 meters
#   Minimum depth: 406.855416 meters looking forward 200.000000 meters along route
#   Maximum depth: 471.744008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 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 = 313.444080;
finalDepth = 356.855416;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       84.896256
#   Actual altitude:          84.896256
#   Commanded vehicle depth:  356.855416 
#   Seafloor depth:           -441.751672
# 
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 = 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;
}
# 
#######################################################
# 
# 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 94.135940 meters
#   Minimum depth: 363.444080 meters looking forward 200.000000 meters along route
#   Maximum depth: 442.254667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 313.444080 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 = 188;
# abortOnTimeout    = True; 
initialDepth = 290.534589;
finalDepth = 313.444080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.836247
#   Actual altitude:          90.836247
#   Commanded vehicle depth:  313.44408 
#   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 = 27.25;
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 4
#   Segment length 100.918667 meters
#   Minimum depth: 340.534589 meters looking forward 200.000000 meters along route
#   Maximum depth: 404.280327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 290.534589 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778451;
longitude = -122.055931;
duration = 201;
initialDepth = 284.358423;
finalDepth = 290.534589;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.836247
#   Actual altitude:          90.836247
#   Commanded vehicle depth:  290.534589 
#   Seafloor depth:           -358.867985
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.25;
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 4
#   Segment length 100.918662 meters
#   Minimum depth: 334.358423 meters looking forward 200.000000 meters along route
#   Maximum depth: 357.642213 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 284.358423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779352;
longitude = -122.055777;
duration = 201;
initialDepth = 268.808822;
finalDepth = 284.358423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.333396
#   Actual altitude:          68.333396
#   Commanded vehicle depth:  284.358423 
#   Seafloor depth:           -338.291387
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 4
#   Segment length 100.918659 meters
#   Minimum depth: 318.808822 meters looking forward 200.000000 meters along route
#   Maximum depth: 341.787960 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.808822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780253;
longitude = -122.055623;
duration = 201;
initialDepth = 255.838892;
finalDepth = 268.808822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.417321
#   Actual altitude:          64.417321
#   Commanded vehicle depth:  268.808822 
#   Seafloor depth:           -333.226143
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 4
#   Segment length 100.918654 meters
#   Minimum depth: 305.838892 meters looking forward 200.000000 meters along route
#   Maximum depth: 333.708256 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 255.838892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781154;
longitude = -122.055470;
duration = 201;
initialDepth = 233.160026;
finalDepth = 255.838892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.417321
#   Actual altitude:          64.417321
#   Commanded vehicle depth:  255.838892 
#   Seafloor depth:           -317.515132
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 4
#   Segment length 100.918651 meters
#   Minimum depth: 283.160026 meters looking forward 200.000000 meters along route
#   Maximum depth: 318.724198 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 233.160026 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782056;
longitude = -122.055316;
duration = 201;
initialDepth = 224.147933;
finalDepth = 233.160026;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.653231
#   Actual altitude:          69.653231
#   Commanded vehicle depth:  233.160026 
#   Seafloor depth:           -302.813257
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.90;
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 4
#   Segment length 100.918646 meters
#   Minimum depth: 274.147933 meters looking forward 200.000000 meters along route
#   Maximum depth: 302.687758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 224.147933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782957;
longitude = -122.055162;
duration = 201;
initialDepth = 212.156851;
finalDepth = 224.147933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.653231
#   Actual altitude:          69.653231
#   Commanded vehicle depth:  224.147933 
#   Seafloor depth:           -281.224373
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.90;
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 4
#   Segment length 100.918642 meters
#   Minimum depth: 262.156851 meters looking forward 200.000000 meters along route
#   Maximum depth: 280.337544 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 212.156851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783858;
longitude = -122.055009;
duration = 201;
initialDepth = 197.192793;
finalDepth = 212.156851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.53293
#   Actual altitude:          60.53293
#   Commanded vehicle depth:  212.156851 
#   Seafloor depth:           -272.689781
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.16;
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 100.918638 meters
#   Minimum depth: 247.192793 meters looking forward 200.000000 meters along route
#   Maximum depth: 271.150331 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 197.192793 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784759;
longitude = -122.054855;
duration = 201;
initialDepth = 179.196423;
finalDepth = 197.192793;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.870979
#   Actual altitude:          64.870979
#   Commanded vehicle depth:  197.192793 
#   Seafloor depth:           -262.063772
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.46;
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 4
#   Segment length 104.282588 meters
#   Minimum depth: 229.196423 meters looking forward 200.000000 meters along route
#   Maximum depth: 260.101441 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 179.196423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785661;
longitude = -122.054701;
duration = 208;
initialDepth = 169.955977;
finalDepth = 179.196423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.602279
#   Actual altitude:          67.602279
#   Commanded vehicle depth:  179.196423 
#   Seafloor depth:           -246.798702
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.28;
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 to get to end of line 3
#   Segment length 172.150919 meters
#   Minimum depth: 219.955977 meters looking forward 200.000000 meters along route
#   Maximum depth: 232.627208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 169.955977 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786592;
longitude = -122.054543;
duration = 344;
# abortOnTimeout    = True; 
initialDepth = 155.680928;
finalDepth = 169.955977;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.602279
#   Actual altitude:          67.602279
#   Commanded vehicle depth:  169.955977 
#   Seafloor depth:           -229.347575
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.28;
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 3
#   Segment length 106.707209 meters
#   Minimum depth: 205.680928 meters looking forward 200.000000 meters along route
#   Maximum depth: 226.401138 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 155.680928 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788094;
longitude = -122.054058;
duration = 213;
initialDepth = 142.382393;
finalDepth = 155.680928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.067159
#   Actual altitude:          64.067159
#   Commanded vehicle depth:  155.680928 
#   Seafloor depth:           -219.748087
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.22;
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 2
#   Segment length 86.803964 meters
#   Minimum depth: 192.382393 meters looking forward 200.000000 meters along route
#   Maximum depth: 219.748087 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 142.382393 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 = 173;
# abortOnTimeout    = True; 
initialDepth = 125.016613;
finalDepth = 142.382393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.067159
#   Actual altitude:          64.067159
#   Commanded vehicle depth:  142.382393 
#   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 = 19.22;
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 2
#   Segment length 100.129033 meters
#   Minimum depth: 175.016613 meters looking forward 200.000000 meters along route
#   Maximum depth: 205.680928 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 125.016613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789806;
longitude = -122.053811;
duration = 200;
initialDepth = 109.113754;
finalDepth = 125.016613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.076388
#   Actual altitude:          65.076388
#   Commanded vehicle depth:  125.016613 
#   Seafloor depth:           -190.093001
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.52;
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 2
#   Segment length 100.129043 meters
#   Minimum depth: 159.113754 meters looking forward 200.000000 meters along route
#   Maximum depth: 188.546393 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 109.113754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790708;
longitude = -122.053871;
duration = 200;
initialDepth = 97.345202;
finalDepth = 109.113754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.076388
#   Actual altitude:          65.076388
#   Commanded vehicle depth:  109.113754 
#   Seafloor depth:           -173.420619
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.52;
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 2
#   Segment length 100.129054 meters
#   Minimum depth: 147.345202 meters looking forward 200.000000 meters along route
#   Maximum depth: 171.262862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 97.345202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791609;
longitude = -122.053932;
duration = 200;
initialDepth = 86.055736;
finalDepth = 97.345202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.306865
#   Actual altitude:          64.306865
#   Commanded vehicle depth:  97.345202 
#   Seafloor depth:           -157.743962
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.29;
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 2
#   Segment length 106.804335 meters
#   Minimum depth: 136.055736 meters looking forward 200.000000 meters along route
#   Maximum depth: 156.526103 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.055736 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792510;
longitude = -122.053992;
duration = 213;
initialDepth = 81.050060;
finalDepth = 86.055736;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       60.914309
#   Actual altitude:          60.914309
#   Commanded vehicle depth:  86.055736 
#   Seafloor depth:           -146.970045
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.27;
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 to get to end of line 1
#   Segment length 100.407850 meters
#   Minimum depth: 131.050060 meters looking forward 200.000000 meters along route
#   Maximum depth: 146.142372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.050060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793471;
longitude = -122.054057;
duration = 200;
# abortOnTimeout    = True; 
initialDepth = 77.028603;
finalDepth = 81.050060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.914309
#   Actual altitude:          60.914309
#   Commanded vehicle depth:  81.05006 
#   Seafloor depth:           -135.594828
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.27;
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 1
#   Segment length 107.579678 meters
#   Minimum depth: 127.028603 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.186172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 77.028603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794313;
longitude = -122.054472;
duration = 215;
initialDepth = 72.174654;
finalDepth = 77.028603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.544768
#   Actual altitude:          54.544768
#   Commanded vehicle depth:  77.028603 
#   Seafloor depth:           -130.960874
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.36;
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 1
#   Segment length 107.950475 meters
#   Minimum depth: 122.174654 meters looking forward 200.000000 meters along route
#   Maximum depth: 130.702043 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.174654 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795214;
longitude = -122.054918;
duration = 215;
initialDepth = 66.992877;
finalDepth = 72.174654;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.835345
#   Actual altitude:          54.835345
#   Commanded vehicle depth:  72.174654 
#   Seafloor depth:           -127.009999
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 1
#   Segment length 107.208382 meters
#   Minimum depth: 116.992877 meters looking forward 200.000000 meters along route
#   Maximum depth: 125.642595 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.992877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796118;
longitude = -122.055364;
duration = 214;
initialDepth = 62.284269;
finalDepth = 66.992877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.17249
#   Actual altitude:          55.17249
#   Commanded vehicle depth:  66.992877 
#   Seafloor depth:           -122.165367
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 1
#   Segment length 100.407238 meters
#   Minimum depth: 112.284269 meters looking forward 200.000000 meters along route
#   Maximum depth: 121.807855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.284269 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797016;
longitude = -122.055808;
duration = 200;
initialDepth = 61.917358;
finalDepth = 62.284269;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.17249
#   Actual altitude:          55.17249
#   Commanded vehicle depth:  62.284269 
#   Seafloor depth:           -116.400890
# 
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 = 16.55;
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.116621
#   Sonar parameter altitude: 54.116621
#   Commanded vehicle depth:  61.917358 
#   Seafloor depth:           -111.917358
# 
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 = 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;
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: 111.917358 meters looking forward 200.000000 meters along route
#   Maximum depth: 121.807855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1424.815206 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.917358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.797857;
longitude = -122.056223;
duration = 600;
depth = 61.917358;
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 = 180.0;
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 = 180.0;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
