# 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 21:55:33 PST 2015>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2258 2015-10-06 04:57:28Z caress r
# 
# Mission Summary:
#     Route File:               2015_RockfishHabitat_2v4.rte
#     Mission File:             2015_RockfishHabitat_2v4.cfg
#     Distance:                 78763.437483 (m)
#     Estimated Time:           53499 (s)  14.861 (hr)
#     Abort Time:               66300 (s)
#     Max battery life:         68400 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              300 (s)
#     Way Points:               134
#     Route Points:             731
#     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:      438.162294 (m)
#     Abort Vehicle Depth:        458.162294 (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 -111.802570 0.000000 3
#   1 -122.062945 36.796596 -159.639526 615.833641 3
#   2 -122.056186 36.797887 -111.536031 1235.683062 3
#   3 -122.054057 36.793471 -135.956055 1761.160691 1
#   4 -122.053758 36.789025 -205.375511 2255.116856 1
#   5 -122.054543 36.786592 -229.431591 2533.972274 1
#   6 -122.057343 36.778661 -405.170914 3448.618782 3
#   7 -122.059472 36.781996 -402.089706 3864.529940 1
#   8 -122.063020 36.784459 -416.588669 4282.743011 1
#   9 -122.067837 36.791489 -401.059380 5173.242972 1
#   10 -122.070638 36.795274 -449.394936 5661.890940 1
#   11 -122.072580 36.798488 -415.536644 6058.317267 1
#   12 -122.078069 36.801282 -401.203156 6637.877978 1
#   13 -122.081393 36.803745 -399.534721 7041.114582 1
#   14 -122.083521 36.801673 -384.436867 7339.240364 3
#   15 -122.085874 36.801222 -408.335823 7555.041616 1
#   16 -122.088040 36.800651 -445.021866 7758.398677 1
#   17 -122.089048 36.798218 -381.689583 8042.899504 1
#   18 -122.090169 36.795965 -391.151978 8312.111566 1
#   19 -122.092036 36.793201 -390.680374 8661.070510 1
#   20 -122.095733 36.791669 -388.922256 9032.143525 1
#   21 -122.099878 36.791218 -399.893120 9405.352656 1
#   22 -122.109401 36.787163 -440.895711 10366.793675 1
#   23 -122.110110 36.788755 -411.357340 10554.431774 1
#   24 -122.100214 36.792750 -349.162766 11542.421458 1
#   25 -122.095994 36.793261 -342.399757 11923.189530 1
#   26 -122.093417 36.794433 -349.860390 12187.332871 1
#   27 -122.091737 36.796866 -330.697701 12496.072862 1
#   28 -122.090729 36.798669 -308.193008 12715.382232 1
#   29 -122.089235 36.801673 -384.805138 13074.307708 1
#   30 -122.086210 36.802574 -330.704254 13362.094460 1
#   31 -122.084306 36.803295 -293.426254 13549.845614 3
#   32 -122.081617 36.805638 -322.819763 13903.553726 1
#   33 -122.077024 36.802754 -305.292030 14423.417868 1
#   34 -122.071198 36.799780 -320.629112 15039.055821 1
#   35 -122.068546 36.796055 -373.464752 15515.245400 1
#   36 -122.066156 36.792570 -311.105423 15956.775541 1
#   37 -122.061227 36.785721 -305.484085 16834.704082 1
#   38 -122.058128 36.783528 -313.092468 17203.027259 1
#   39 -122.055177 36.779502 -346.998077 17721.520703 3
#   40 -122.054953 36.782026 -305.795334 18002.243009 3
#   41 -122.057007 36.784429 -258.797249 18325.760459 1
#   42 -122.059659 36.786712 -240.153835 18672.385360 1
#   43 -122.064401 36.793351 -226.471539 19521.794422 1
#   44 -122.066829 36.796896 -287.323570 19970.789743 1
#   45 -122.069667 36.800922 -212.303627 20484.206905 1
#   46 -122.075791 36.803926 -170.785267 21124.169587 1
#   47 -122.082102 36.807771 -226.599033 21830.513339 1
#   48 -122.085127 36.804617 -225.809925 22272.387842 3
#   49 -122.086696 36.803715 -249.081013 22444.450439 1
#   50 -122.089795 36.802934 -330.199501 22734.177094 1
#   51 -122.092297 36.799570 -242.445625 23169.034257 1
#   52 -122.093156 36.797617 -277.463570 23398.851793 1
#   53 -122.094500 36.795544 -307.978294 23658.211272 1
#   54 -122.096442 36.794703 -329.657928 23855.001766 1
#   55 -122.100438 36.794102 -319.482697 24217.714216 1
#   56 -122.110857 36.789957 -389.591878 25254.886228 1
#   57 -122.111567 36.791278 -366.368164 25414.608856 1
#   58 -122.100774 36.795544 -289.198990 26487.553666 1
#   59 -122.097002 36.796145 -307.776985 26830.634367 1
#   60 -122.094949 36.798158 -256.361588 27119.461908 1
#   61 -122.093828 36.800050 -224.772911 27351.966779 1
#   62 -122.090729 36.804436 -234.427242 27911.603335 1
#   63 -122.086770 36.805097 -197.931339 28272.319277 1
#   64 -122.085463 36.806149 -197.883041 28437.290228 3
#   65 -122.082177 36.809513 -137.782558 28911.846991 1
#   66 -122.074783 36.805278 -130.136513 29721.666906 1
#   67 -122.068098 36.802003 -148.311455 30420.004896 1
#   68 -122.065036 36.797617 -180.477192 30978.024777 1
#   69 -122.062571 36.794012 -182.732651 31434.442549 1
#   70 -122.058128 36.787583 -215.135353 32250.440732 1
#   71 -122.054841 36.784639 -263.109306 32689.416110 3
#   72 -122.054318 36.786682 -232.472752 32920.819310 3
#   73 -122.056783 36.788575 -204.511467 33224.929139 1
#   74 -122.060928 36.794703 -158.530758 33998.852538 1
#   75 -122.063356 36.798158 -150.959305 34439.127254 1
#   76 -122.066717 36.803295 -123.281477 35083.092076 1
#   77 -122.073439 36.806539 -114.930700 35782.466883 1
#   78 -122.082625 36.811316 -114.902121 36758.345690 1
#   79 -122.086210 36.807531 -139.649689 37286.162659 3
#   80 -122.087442 36.806629 -155.570526 37434.797102 1
#   81 -122.091364 36.805818 -174.410667 37796.056188 1
#   82 -122.095061 36.800591 -209.030781 38463.165566 1
#   83 -122.096106 36.798849 -240.952614 38677.733397 1
#   84 -122.097525 36.797347 -275.146538 38887.001096 1
#   85 -122.099094 36.796716 -285.722046 39043.513185 1
#   86 -122.098011 36.790377 -522.470062 39753.358240 1
#   87 -122.099766 36.789957 -456.116241 39916.736734 1
#   88 -122.107160 36.786802 -455.948446 40663.581200 1
#   89 -122.110782 36.792810 -334.861064 41404.357469 1
#   90 -122.101148 36.796866 -265.616028 42374.604732 1
#   91 -122.098422 36.798158 -251.848721 42656.879126 1
#   92 -122.097189 36.799420 -225.737392 42834.930244 1
#   93 -122.096181 36.801312 -192.326721 43063.279364 1
#   94 -122.092409 36.807050 -138.280064 43783.313954 1
#   95 -122.088003 36.807801 -144.463554 44185.094033 1
#   96 -122.086882 36.809333 -123.968513 44382.288686 3
#   97 -122.083223 36.813269 -111.911861 44927.449342 1
#   98 -122.072094 36.807891 -101.652431 46085.687786 1
#   99 -122.065484 36.804737 -107.962296 46771.357076 1
#   100 -122.061115 36.798879 -127.706966 47529.164001 1
#   101 -122.059024 36.795424 -145.699001 47955.448663 1
#   102 -122.055513 36.789866 -185.969231 48647.063973 3
#   103 -122.055850 36.793652 -140.383514 49068.154207 1
#   104 -122.053721 36.799510 -103.699667 49745.226718 1
#   105 -122.048680 36.804466 -102.169792 50455.545390 1
#   106 -122.040987 36.808312 -99.465866 51263.653420 1
#   107 -122.013091 36.818045 -102.019798 53976.196927 3
#   108 -122.014099 36.819307 -97.833691 54142.586639 3
#   109 -122.041883 36.809574 -97.498068 56845.930459 1
#   110 -122.049949 36.805518 -99.642080 57694.591642 1
#   111 -122.055289 36.800411 -103.358938 58434.829930 1
#   112 -122.058128 36.793261 -158.310635 59267.505363 3
#   113 -122.058800 36.799660 -108.519877 59979.915903 1
#   114 -122.064028 36.806269 -100.636312 60848.903031 1
#   115 -122.070787 36.809574 -101.103994 61554.574533 1
#   116 -122.083895 36.815612 -109.755717 62902.101878 1
#   117 -122.089011 36.809604 -126.668976 63709.911876 1
#   118 -122.093754 36.808492 -124.939026 64150.587295 1
#   119 -122.095397 36.805999 -142.787343 64463.641453 1
#   120 -122.096181 36.804827 -147.339905 64611.250428 1
#   121 -122.099766 36.799059 -225.626465 65326.614809 1
#   122 -122.112351 36.792991 -331.587362 66635.793566 3
#   123 -122.113546 36.794463 -303.982829 66830.822294 3
#   124 -122.100886 36.800321 -197.093323 68133.912905 1
#   125 -122.095621 36.809694 -122.430135 69274.906116 1
#   126 -122.090281 36.811286 -111.208272 69782.962307 1
#   127 -122.084567 36.817595 -108.198344 70648.740196 1
#   128 -122.062796 36.807441 -97.922353 72893.843890 1
#   129 -122.055775 36.798939 -105.363485 74026.037841 3
#   130 -122.053833 36.800591 -102.878469 74278.257046 3
#   131 -122.061601 36.808853 -97.310099 75427.242464 1
#   132 -122.084866 36.819427 -106.658274 77811.125413 1
#   133 -122.091588 36.812758 -111.064901 78763.437483 4
# 
# A total of 731 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 55800;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 438.162294;
abortDepth = 458.162294;
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 133
#   Segment length 120.113139 meters
#   Minimum depth: 107.272875 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.064901 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.272875 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812758;
longitude = -122.091588;
duration = 240;
# abortOnTimeout    = True; 
initialDepth = 57.272875;
finalDepth = 57.272875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.792026
#   Actual altitude:          53.792026
#   Commanded vehicle depth:  57.272875 
#   Seafloor depth:           -111.064901
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 133
#   Segment length 102.953727 meters
#   Minimum depth: 107.272875 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.892695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.272875 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813599;
longitude = -122.090740;
duration = 205;
initialDepth = 58.366383;
finalDepth = 57.272875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.792026
#   Actual altitude:          53.792026
#   Commanded vehicle depth:  57.272875 
#   Seafloor depth:           -109.638070
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 133
#   Segment length 102.953365 meters
#   Minimum depth: 108.366383 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.892695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.366383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814320;
longitude = -122.090013;
duration = 205;
initialDepth = 57.898331;
finalDepth = 58.366383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.365195
#   Actual altitude:          52.365195
#   Commanded vehicle depth:  58.366383 
#   Seafloor depth:           -109.189418
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 133
#   Segment length 102.953004 meters
#   Minimum depth: 107.898331 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.132516 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.898331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815041;
longitude = -122.089286;
duration = 205;
initialDepth = 57.898331;
finalDepth = 57.898331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.823035
#   Actual altitude:          50.823035
#   Commanded vehicle depth:  57.898331 
#   Seafloor depth:           -108.429670
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 133
#   Segment length 102.952641 meters
#   Minimum depth: 107.898331 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.638228 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.898331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815762;
longitude = -122.088560;
duration = 205;
initialDepth = 57.991138;
finalDepth = 57.898331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.531339
#   Actual altitude:          50.531339
#   Commanded vehicle depth:  57.898331 
#   Seafloor depth:           -108.089023
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 133
#   Segment length 102.952279 meters
#   Minimum depth: 107.991138 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.892680 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.991138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816483;
longitude = -122.087833;
duration = 205;
initialDepth = 58.192943;
finalDepth = 57.991138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.562359
#   Actual altitude:          50.562359
#   Commanded vehicle depth:  57.991138 
#   Seafloor depth:           -108.553497
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 133
#   Segment length 102.951917 meters
#   Minimum depth: 108.192943 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.892680 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.192943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817204;
longitude = -122.087106;
duration = 205;
initialDepth = 56.810858;
finalDepth = 58.192943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.562359
#   Actual altitude:          50.562359
#   Commanded vehicle depth:  58.192943 
#   Seafloor depth:           -108.674980
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 133
#   Segment length 108.671076 meters
#   Minimum depth: 106.810858 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.633710 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.810858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817925;
longitude = -122.086380;
duration = 217;
initialDepth = 56.442304;
finalDepth = 56.810858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.566063
#   Actual altitude:          51.566063
#   Commanded vehicle depth:  56.810858 
#   Seafloor depth:           -108.376921
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 133
#   Segment length 105.810922 meters
#   Minimum depth: 106.442304 meters looking forward 200.000000 meters along route
#   Maximum depth: 107.313208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.442304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818686;
longitude = -122.085613;
duration = 211;
initialDepth = 56.359846;
finalDepth = 56.442304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.566063
#   Actual altitude:          51.566063
#   Commanded vehicle depth:  56.442304 
#   Seafloor depth:           -107.061448
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 to get to end of line 132
#   Segment length 135.440994 meters
#   Minimum depth: 106.359846 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.936245 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.359846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.819427;
longitude = -122.084866;
duration = 270;
# abortOnTimeout    = True; 
initialDepth = 56.209156;
finalDepth = 56.359846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.619144
#   Actual altitude:          50.619144
#   Commanded vehicle depth:  56.359846 
#   Seafloor depth:           -106.658274
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.581290 meters
#   Minimum depth: 106.209156 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.563842 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.209156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818826;
longitude = -122.083544;
duration = 203;
initialDepth = 56.063692;
finalDepth = 56.209156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.298428
#   Actual altitude:          50.298428
#   Commanded vehicle depth:  56.209156 
#   Seafloor depth:           -106.406304
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.581759 meters
#   Minimum depth: 106.063692 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.499003 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.063692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818376;
longitude = -122.082552;
duration = 203;
initialDepth = 55.905789;
finalDepth = 56.063692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.385827
#   Actual altitude:          50.385827
#   Commanded vehicle depth:  56.063692 
#   Seafloor depth:           -106.449519
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.582226 meters
#   Minimum depth: 105.905789 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.370824 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.905789 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817925;
longitude = -122.081561;
duration = 203;
initialDepth = 55.578561;
finalDepth = 55.905789;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.385827
#   Actual altitude:          50.385827
#   Commanded vehicle depth:  55.905789 
#   Seafloor depth:           -106.080212
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 103.148016 meters
#   Minimum depth: 105.578561 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.251759 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.578561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817474;
longitude = -122.080570;
duration = 206;
initialDepth = 55.578561;
finalDepth = 55.578561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.328264
#   Actual altitude:          50.328264
#   Commanded vehicle depth:  55.578561 
#   Seafloor depth:           -105.906825
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 100.017838 meters
#   Minimum depth: 105.578561 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.951491 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.578561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817017;
longitude = -122.079563;
duration = 200;
initialDepth = 55.599238;
finalDepth = 55.578561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.328264
#   Actual altitude:          50.328264
#   Commanded vehicle depth:  55.578561 
#   Seafloor depth:           -105.676763
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.583629 meters
#   Minimum depth: 105.599238 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.953414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.599238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816573;
longitude = -122.078587;
duration = 203;
initialDepth = 55.481248;
finalDepth = 55.599238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.197655
#   Actual altitude:          50.197655
#   Commanded vehicle depth:  55.599238 
#   Seafloor depth:           -105.796893
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.584097 meters
#   Minimum depth: 105.481248 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.953414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.481248 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816123;
longitude = -122.077595;
duration = 203;
initialDepth = 55.329455;
finalDepth = 55.481248;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.209776
#   Actual altitude:          50.209776
#   Commanded vehicle depth:  55.481248 
#   Seafloor depth:           -105.691024
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.584564 meters
#   Minimum depth: 105.329455 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.648915 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.329455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815672;
longitude = -122.076604;
duration = 203;
initialDepth = 55.112205;
finalDepth = 55.329455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.262548
#   Actual altitude:          50.262548
#   Commanded vehicle depth:  55.329455 
#   Seafloor depth:           -105.592003
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.585032 meters
#   Minimum depth: 105.112205 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.577787 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.112205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815221;
longitude = -122.075613;
duration = 203;
initialDepth = 54.628274;
finalDepth = 55.112205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.262548
#   Actual altitude:          50.262548
#   Commanded vehicle depth:  55.112205 
#   Seafloor depth:           -105.331926
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 102.042065 meters
#   Minimum depth: 104.628274 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.397809 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 54.628274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814771;
longitude = -122.074621;
duration = 204;
initialDepth = 54.278516;
finalDepth = 54.628274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.478071
#   Actual altitude:          50.478071
#   Commanded vehicle depth:  54.628274 
#   Seafloor depth:           -105.106345
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.129402 meters
#   Minimum depth: 104.278516 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.058222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 54.278516 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814318;
longitude = -122.073625;
duration = 202;
initialDepth = 53.629392;
finalDepth = 54.278516;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.478071
#   Actual altitude:          50.478071
#   Commanded vehicle depth:  54.278516 
#   Seafloor depth:           -104.628166
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.586436 meters
#   Minimum depth: 103.629392 meters looking forward 200.000000 meters along route
#   Maximum depth: 104.602597 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.629392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813869;
longitude = -122.072638;
duration = 203;
initialDepth = 52.663368;
finalDepth = 53.629392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.580975
#   Actual altitude:          50.580975
#   Commanded vehicle depth:  53.629392 
#   Seafloor depth:           -104.210367
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.586903 meters
#   Minimum depth: 102.663368 meters looking forward 200.000000 meters along route
#   Maximum depth: 104.170258 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.663368 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813419;
longitude = -122.071647;
duration = 203;
initialDepth = 51.488539;
finalDepth = 52.663368;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.852115
#   Actual altitude:          50.852115
#   Commanded vehicle depth:  52.663368 
#   Seafloor depth:           -103.515483
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.587371 meters
#   Minimum depth: 101.488539 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.466078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.488539 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812968;
longitude = -122.070655;
duration = 203;
initialDepth = 50.776438;
finalDepth = 51.488539;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.161789
#   Actual altitude:          51.161789
#   Commanded vehicle depth:  51.488539 
#   Seafloor depth:           -102.650328
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.587838 meters
#   Minimum depth: 100.776438 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.587241 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.776438 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812518;
longitude = -122.069664;
duration = 203;
initialDepth = 49.980363;
finalDepth = 50.776438;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.161789
#   Actual altitude:          51.161789
#   Commanded vehicle depth:  50.776438 
#   Seafloor depth:           -101.432142
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 101.588307 meters
#   Minimum depth: 99.980363 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.568908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.980363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812067;
longitude = -122.068673;
duration = 203;
initialDepth = 49.480766;
finalDepth = 49.980363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.769461
#   Actual altitude:          50.769461
#   Commanded vehicle depth:  49.980363 
#   Seafloor depth:           -100.749824
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 102.664998 meters
#   Minimum depth: 99.480766 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.707413 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.480766 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811616;
longitude = -122.067681;
duration = 205;
initialDepth = 48.554672;
finalDepth = 49.480766;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.769461
#   Actual altitude:          50.769461
#   Commanded vehicle depth:  49.480766 
#   Seafloor depth:           -100.032847
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 103.317736 meters
#   Minimum depth: 98.554672 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.920904 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.554672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811161;
longitude = -122.066679;
duration = 206;
initialDepth = 48.311132;
finalDepth = 48.554672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.966179
#   Actual altitude:          50.966179
#   Commanded vehicle depth:  48.554672 
#   Seafloor depth:           -99.520851
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 103.318220 meters
#   Minimum depth: 98.311132 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.339438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.311132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810703;
longitude = -122.065671;
duration = 206;
initialDepth = 48.227421;
finalDepth = 48.311132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.966179
#   Actual altitude:          50.966179
#   Commanded vehicle depth:  48.311132 
#   Seafloor depth:           -98.549654
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 103.318704 meters
#   Minimum depth: 98.227421 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.813452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.227421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810244;
longitude = -122.064663;
duration = 206;
initialDepth = 47.916403;
finalDepth = 48.227421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.276961
#   Actual altitude:          50.276961
#   Commanded vehicle depth:  48.227421 
#   Seafloor depth:           -98.504382
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 103.319188 meters
#   Minimum depth: 97.916403 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.813452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.916403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809786;
longitude = -122.063654;
duration = 206;
initialDepth = 47.364503;
finalDepth = 47.916403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.408687
#   Actual altitude:          50.408687
#   Commanded vehicle depth:  47.916403 
#   Seafloor depth:           -98.325090
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 132
#   Segment length 107.146336 meters
#   Minimum depth: 97.364503 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.154382 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.364503 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809328;
longitude = -122.062646;
duration = 214;
initialDepth = 47.242962;
finalDepth = 47.364503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.589204
#   Actual altitude:          50.589204
#   Commanded vehicle depth:  47.364503 
#   Seafloor depth:           -97.953707
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 to get to end of line 131
#   Segment length 142.053912 meters
#   Minimum depth: 97.242962 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.899602 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.242962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808853;
longitude = -122.061601;
duration = 284;
# abortOnTimeout    = True; 
initialDepth = 47.242962;
finalDepth = 47.242962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.589204
#   Actual altitude:          50.589204
#   Commanded vehicle depth:  47.242962 
#   Seafloor depth:           -97.310099
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 131
#   Segment length 100.273768 meters
#   Minimum depth: 97.242962 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.616855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.242962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807831;
longitude = -122.060640;
duration = 200;
initialDepth = 47.982236;
finalDepth = 47.242962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.707052
#   Actual altitude:          50.707052
#   Commanded vehicle depth:  47.242962 
#   Seafloor depth:           -97.950014
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 131
#   Segment length 100.274116 meters
#   Minimum depth: 97.982236 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.471517 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.982236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807110;
longitude = -122.059962;
duration = 200;
initialDepth = 48.237881;
finalDepth = 47.982236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.891017
#   Actual altitude:          50.891017
#   Commanded vehicle depth:  47.982236 
#   Seafloor depth:           -98.873253
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 100.274462 meters
#   Minimum depth: 98.237881 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.471517 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.237881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806389;
longitude = -122.059284;
duration = 200;
initialDepth = 48.237881;
finalDepth = 48.237881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.891017
#   Actual altitude:          50.891017
#   Commanded vehicle depth:  48.237881 
#   Seafloor depth:           -98.500221
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 100.274809 meters
#   Minimum depth: 98.237881 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.297535 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.237881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805668;
longitude = -122.058606;
duration = 200;
initialDepth = 48.527327;
finalDepth = 48.237881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.290601
#   Actual altitude:          50.290601
#   Commanded vehicle depth:  48.237881 
#   Seafloor depth:           -98.528482
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 131
#   Segment length 100.275156 meters
#   Minimum depth: 98.527327 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.873699 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.527327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804947;
longitude = -122.057929;
duration = 200;
initialDepth = 48.003629;
finalDepth = 48.527327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.645696
#   Actual altitude:          50.645696
#   Commanded vehicle depth:  48.527327 
#   Seafloor depth:           -99.173023
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 131
#   Segment length 100.275503 meters
#   Minimum depth: 98.003629 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.887880 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.003629 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804226;
longitude = -122.057251;
duration = 200;
initialDepth = 48.003629;
finalDepth = 48.003629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.884251
#   Actual altitude:          51.884251
#   Commanded vehicle depth:  48.003629 
#   Seafloor depth:           -99.887880
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 100.275850 meters
#   Minimum depth: 98.003629 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.441080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.003629 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803505;
longitude = -122.056573;
duration = 200;
initialDepth = 48.537542;
finalDepth = 48.003629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.884251
#   Actual altitude:          51.884251
#   Commanded vehicle depth:  48.003629 
#   Seafloor depth:           -98.745138
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 100.276196 meters
#   Minimum depth: 98.537542 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.050512 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.537542 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802784;
longitude = -122.055895;
duration = 200;
initialDepth = 49.061010;
finalDepth = 48.537542;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.791903
#   Actual altitude:          50.791903
#   Commanded vehicle depth:  48.537542 
#   Seafloor depth:           -99.329445
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 131
#   Segment length 100.276544 meters
#   Minimum depth: 99.061010 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.218328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.061010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802063;
longitude = -122.055217;
duration = 200;
initialDepth = 49.230979;
finalDepth = 49.061010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.969057
#   Actual altitude:          50.969057
#   Commanded vehicle depth:  49.06101 
#   Seafloor depth:           -100.030067
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 104.455102 meters
#   Minimum depth: 99.230979 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.031940 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.230979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801342;
longitude = -122.054539;
duration = 208;
initialDepth = 52.801716;
finalDepth = 49.230979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.951932
#   Actual altitude:          52.951932
#   Commanded vehicle depth:  49.230979 
#   Seafloor depth:           -102.182911
# 
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 = 15.89;
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;
}
# 
#######################################################
# 
# 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 130
#   Segment length 146.745424 meters
#   Minimum depth: 102.801716 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.413360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.801716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800591;
longitude = -122.053833;
duration = 293;
# abortOnTimeout    = True; 
initialDepth = 52.991097;
finalDepth = 52.801716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.951932
#   Actual altitude:          52.951932
#   Commanded vehicle depth:  52.801716 
#   Seafloor depth:           -102.878469
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 130
#   Segment length 105.473781 meters
#   Minimum depth: 102.991097 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.175845 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.991097 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799630;
longitude = -122.054963;
duration = 210;
initialDepth = 55.051511;
finalDepth = 52.991097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.479012
#   Actual altitude:          50.479012
#   Commanded vehicle depth:  52.991097 
#   Seafloor depth:           -103.470109
# 
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 = 15.14;
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 129
#   Segment length 176.032693 meters
#   Minimum depth: 105.051511 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.827259 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.051511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798939;
longitude = -122.055775;
duration = 352;
# abortOnTimeout    = True; 
initialDepth = 54.047902;
finalDepth = 55.051511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.479012
#   Actual altitude:          50.479012
#   Commanded vehicle depth:  55.051511 
#   Seafloor depth:           -105.363485
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 108.019599 meters
#   Minimum depth: 104.047902 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.827259 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 54.047902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800261;
longitude = -122.056866;
duration = 216;
initialDepth = 52.578350;
finalDepth = 54.047902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.478681
#   Actual altitude:          51.478681
#   Commanded vehicle depth:  54.047902 
#   Seafloor depth:           -105.526583
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 108.019247 meters
#   Minimum depth: 102.578350 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.255397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.578350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801072;
longitude = -122.057536;
duration = 216;
initialDepth = 49.926754;
finalDepth = 52.578350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.478681
#   Actual altitude:          51.478681
#   Commanded vehicle depth:  52.57835 
#   Seafloor depth:           -104.014478
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 108.018895 meters
#   Minimum depth: 99.926754 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.647959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.926754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801883;
longitude = -122.058206;
duration = 216;
initialDepth = 49.245331;
finalDepth = 49.926754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.431112
#   Actual altitude:          52.431112
#   Commanded vehicle depth:  49.926754 
#   Seafloor depth:           -102.357866
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 108.018544 meters
#   Minimum depth: 99.245331 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.683792 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.245331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802694;
longitude = -122.058876;
duration = 216;
initialDepth = 48.916855;
finalDepth = 49.245331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.431112
#   Actual altitude:          52.431112
#   Commanded vehicle depth:  49.245331 
#   Seafloor depth:           -100.011068
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 108.018191 meters
#   Minimum depth: 98.916855 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.632408 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.916855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803505;
longitude = -122.059546;
duration = 216;
initialDepth = 47.805573;
finalDepth = 48.916855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.765737
#   Actual altitude:          50.765737
#   Commanded vehicle depth:  48.916855 
#   Seafloor depth:           -99.535254
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 108.017839 meters
#   Minimum depth: 97.805573 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.573952 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.805573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804316;
longitude = -122.060216;
duration = 216;
initialDepth = 47.367002;
finalDepth = 47.805573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.203694
#   Actual altitude:          51.203694
#   Commanded vehicle depth:  47.805573 
#   Seafloor depth:           -99.009267
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 103.293326 meters
#   Minimum depth: 97.367002 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.161570 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.367002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805127;
longitude = -122.060885;
duration = 206;
initialDepth = 47.367002;
finalDepth = 47.367002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.203694
#   Actual altitude:          51.203694
#   Commanded vehicle depth:  47.367002 
#   Seafloor depth:           -98.297997
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 100.739411 meters
#   Minimum depth: 97.367002 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.849068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.367002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805903;
longitude = -122.061526;
duration = 201;
initialDepth = 47.421508;
finalDepth = 47.367002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.098437
#   Actual altitude:          51.098437
#   Commanded vehicle depth:  47.367002 
#   Seafloor depth:           -98.465439
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 129
#   Segment length 104.016206 meters
#   Minimum depth: 97.421508 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.849068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.421508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806660;
longitude = -122.062151;
duration = 208;
initialDepth = 47.549459;
finalDepth = 47.421508;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.098437
#   Actual altitude:          51.098437
#   Commanded vehicle depth:  47.421508 
#   Seafloor depth:           -97.862875
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 to get to end of line 128
#   Segment length 169.449807 meters
#   Minimum depth: 97.549459 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.514543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.549459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807441;
longitude = -122.062796;
duration = 338;
# abortOnTimeout    = True; 
initialDepth = 48.530357;
finalDepth = 47.549459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.441367
#   Actual altitude:          50.441367
#   Commanded vehicle depth:  47.549459 
#   Seafloor depth:           -97.922353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.979915 meters
#   Minimum depth: 98.530357 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.823800 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.530357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808207;
longitude = -122.064439;
duration = 207;
initialDepth = 48.978103;
finalDepth = 48.530357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.383789
#   Actual altitude:          50.383789
#   Commanded vehicle depth:  48.530357 
#   Seafloor depth:           -98.914146
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.979422 meters
#   Minimum depth: 98.978103 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.417972 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.978103 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808677;
longitude = -122.065447;
duration = 207;
initialDepth = 49.348411;
finalDepth = 48.978103;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.383789
#   Actual altitude:          50.383789
#   Commanded vehicle depth:  48.978103 
#   Seafloor depth:           -99.351980
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 107.499574 meters
#   Minimum depth: 99.348411 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.417972 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.348411 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809147;
longitude = -122.066455;
duration = 214;
initialDepth = 49.232488;
finalDepth = 49.348411;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.792997
#   Actual altitude:          50.792997
#   Commanded vehicle depth:  49.348411 
#   Seafloor depth:           -100.141408
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 100.457791 meters
#   Minimum depth: 99.232488 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.120392 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.232488 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809634;
longitude = -122.067498;
duration = 200;
initialDepth = 49.232488;
finalDepth = 49.232488;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.792997
#   Actual altitude:          50.792997
#   Commanded vehicle depth:  49.232488 
#   Seafloor depth:           -99.592271
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.977943 meters
#   Minimum depth: 99.232488 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.269476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.232488 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810088;
longitude = -122.068472;
duration = 207;
initialDepth = 49.794642;
finalDepth = 49.232488;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.506684
#   Actual altitude:          50.506684
#   Commanded vehicle depth:  49.232488 
#   Seafloor depth:           -99.739172
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.977450 meters
#   Minimum depth: 99.794642 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.815785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.794642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810558;
longitude = -122.069480;
duration = 207;
initialDepth = 49.618938;
finalDepth = 49.794642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.506684
#   Actual altitude:          50.506684
#   Commanded vehicle depth:  49.794642 
#   Seafloor depth:           -100.168772
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.976957 meters
#   Minimum depth: 99.618938 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.205964 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.618938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811028;
longitude = -122.070488;
duration = 207;
initialDepth = 49.618938;
finalDepth = 49.618938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.584615
#   Actual altitude:          50.584615
#   Commanded vehicle depth:  49.618938 
#   Seafloor depth:           -100.203553
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 105.719655 meters
#   Minimum depth: 99.618938 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.839039 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.618938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811499;
longitude = -122.071497;
duration = 211;
initialDepth = 51.047589;
finalDepth = 49.618938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.667608
#   Actual altitude:          51.667608
#   Commanded vehicle depth:  49.618938 
#   Seafloor depth:           -101.286546
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 102.232780 meters
#   Minimum depth: 101.047589 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.899537 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.047589 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811977;
longitude = -122.072522;
duration = 204;
initialDepth = 52.720788;
finalDepth = 51.047589;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.751362
#   Actual altitude:          51.751362
#   Commanded vehicle depth:  51.047589 
#   Seafloor depth:           -102.798951
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.975478 meters
#   Minimum depth: 102.720788 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.151340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.720788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812439;
longitude = -122.073513;
duration = 207;
initialDepth = 53.894505;
finalDepth = 52.720788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.751362
#   Actual altitude:          51.751362
#   Commanded vehicle depth:  52.720788 
#   Seafloor depth:           -103.575969
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.974985 meters
#   Minimum depth: 103.894505 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.042147 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.894505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812909;
longitude = -122.074521;
duration = 207;
initialDepth = 55.185884;
finalDepth = 53.894505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.299839
#   Actual altitude:          51.299839
#   Commanded vehicle depth:  53.894505 
#   Seafloor depth:           -105.194344
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
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 128
#   Segment length 103.974493 meters
#   Minimum depth: 105.185884 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.929220 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.185884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813380;
longitude = -122.075530;
duration = 207;
initialDepth = 55.348693;
finalDepth = 55.185884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.299839
#   Actual altitude:          51.299839
#   Commanded vehicle depth:  55.185884 
#   Seafloor depth:           -105.779582
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
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 128
#   Segment length 103.973999 meters
#   Minimum depth: 105.348693 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.929220 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.348693 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813850;
longitude = -122.076538;
duration = 207;
initialDepth = 56.060590;
finalDepth = 55.348693;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.036308
#   Actual altitude:          51.036308
#   Commanded vehicle depth:  55.348693 
#   Seafloor depth:           -106.385001
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 128
#   Segment length 103.973507 meters
#   Minimum depth: 106.060590 meters looking forward 200.000000 meters along route
#   Maximum depth: 107.190297 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.060590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814320;
longitude = -122.077546;
duration = 207;
initialDepth = 56.555220;
finalDepth = 56.060590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.036308
#   Actual altitude:          51.036308
#   Commanded vehicle depth:  56.06059 
#   Seafloor depth:           -106.276392
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 128
#   Segment length 103.973013 meters
#   Minimum depth: 106.555220 meters looking forward 200.000000 meters along route
#   Maximum depth: 107.216375 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.555220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814790;
longitude = -122.078555;
duration = 207;
initialDepth = 56.555220;
finalDepth = 56.555220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.386385
#   Actual altitude:          50.386385
#   Commanded vehicle depth:  56.55522 
#   Seafloor depth:           -106.941605
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 103.972521 meters
#   Minimum depth: 106.555220 meters looking forward 200.000000 meters along route
#   Maximum depth: 107.694495 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.555220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815261;
longitude = -122.079563;
duration = 207;
initialDepth = 56.726966;
finalDepth = 56.555220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.447764
#   Actual altitude:          50.447764
#   Commanded vehicle depth:  56.55522 
#   Seafloor depth:           -107.002984
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 106.501256 meters
#   Minimum depth: 106.726966 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.434412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.726966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815731;
longitude = -122.080571;
duration = 213;
initialDepth = 57.336837;
finalDepth = 56.726966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.952655
#   Actual altitude:          50.952655
#   Commanded vehicle depth:  56.726966 
#   Seafloor depth:           -107.679621
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 128
#   Segment length 101.442308 meters
#   Minimum depth: 107.336837 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.434412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.336837 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816213;
longitude = -122.081604;
duration = 202;
initialDepth = 57.353028;
finalDepth = 57.336837;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.952655
#   Actual altitude:          50.952655
#   Commanded vehicle depth:  57.336837 
#   Seafloor depth:           -107.927078
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 128
#   Segment length 103.971042 meters
#   Minimum depth: 107.353028 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.456315 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.353028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816671;
longitude = -122.082588;
duration = 207;
initialDepth = 57.135147;
finalDepth = 57.353028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.597133
#   Actual altitude:          50.597133
#   Commanded vehicle depth:  57.353028 
#   Seafloor depth:           -107.950161
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 128
#   Segment length 100.119798 meters
#   Minimum depth: 107.135147 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.456315 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.135147 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817142;
longitude = -122.083596;
duration = 200;
initialDepth = 57.643268;
finalDepth = 57.135147;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.597133
#   Actual altitude:          50.597133
#   Commanded vehicle depth:  57.135147 
#   Seafloor depth:           -107.293270
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 to get to end of line 127
#   Segment length 141.465393 meters
#   Minimum depth: 107.643268 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.259824 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.643268 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817595;
longitude = -122.084567;
duration = 282;
# abortOnTimeout    = True; 
initialDepth = 58.039554;
finalDepth = 57.643268;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.555076
#   Actual altitude:          50.555076
#   Commanded vehicle depth:  57.643268 
#   Seafloor depth:           -108.198344
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 127
#   Segment length 101.855466 meters
#   Minimum depth: 108.039554 meters looking forward 200.000000 meters along route
#   Maximum depth: 110.165854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.039554 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816564;
longitude = -122.085501;
duration = 203;
initialDepth = 59.580056;
finalDepth = 58.039554;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.142391
#   Actual altitude:          51.142391
#   Commanded vehicle depth:  58.039554 
#   Seafloor depth:           -109.181945
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 127
#   Segment length 101.855786 meters
#   Minimum depth: 109.580056 meters looking forward 200.000000 meters along route
#   Maximum depth: 110.801142 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.580056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815822;
longitude = -122.086173;
duration = 203;
initialDepth = 60.186474;
finalDepth = 59.580056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.142391
#   Actual altitude:          51.142391
#   Commanded vehicle depth:  59.580056 
#   Seafloor depth:           -110.202318
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 127
#   Segment length 101.856107 meters
#   Minimum depth: 110.186474 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.156605 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.186474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815079;
longitude = -122.086845;
duration = 203;
initialDepth = 60.040379;
finalDepth = 60.186474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.623203
#   Actual altitude:          50.623203
#   Commanded vehicle depth:  60.186474 
#   Seafloor depth:           -110.809677
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 127
#   Segment length 101.856427 meters
#   Minimum depth: 110.040379 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.156605 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.040379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814337;
longitude = -122.087517;
duration = 203;
initialDepth = 60.040379;
finalDepth = 60.040379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.014439
#   Actual altitude:          51.014439
#   Commanded vehicle depth:  60.040379 
#   Seafloor depth:           -111.054818
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 127
#   Segment length 101.856747 meters
#   Minimum depth: 110.040379 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.180397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.040379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813595;
longitude = -122.088189;
duration = 203;
initialDepth = 60.237043;
finalDepth = 60.040379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.014439
#   Actual altitude:          51.014439
#   Commanded vehicle depth:  60.040379 
#   Seafloor depth:           -110.150651
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 127
#   Segment length 107.839159 meters
#   Minimum depth: 110.237043 meters looking forward 200.000000 meters along route
#   Maximum depth: 112.499486 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.237043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812853;
longitude = -122.088862;
duration = 215;
initialDepth = 59.444435;
finalDepth = 60.237043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.011809
#   Actual altitude:          51.011809
#   Commanded vehicle depth:  60.237043 
#   Seafloor depth:           -111.248852
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 127
#   Segment length 107.192804 meters
#   Minimum depth: 109.444435 meters looking forward 200.000000 meters along route
#   Maximum depth: 112.499486 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.444435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812067;
longitude = -122.089573;
duration = 214;
initialDepth = 59.444435;
finalDepth = 59.444435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.571572
#   Actual altitude:          52.571572
#   Commanded vehicle depth:  59.444435 
#   Seafloor depth:           -112.016007
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 126
#   Segment length 88.820381 meters
#   Minimum depth: 109.444435 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.855189 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.444435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811286;
longitude = -122.090281;
duration = 177;
# abortOnTimeout    = True; 
initialDepth = 60.804500;
finalDepth = 59.444435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.571572
#   Actual altitude:          52.571572
#   Commanded vehicle depth:  59.444435 
#   Seafloor depth:           -111.208272
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 126
#   Segment length 106.584811 meters
#   Minimum depth: 110.804500 meters looking forward 200.000000 meters along route
#   Maximum depth: 115.221850 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.804500 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811008;
longitude = -122.091214;
duration = 213;
initialDepth = 63.039279;
finalDepth = 60.804500;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.407961
#   Actual altitude:          54.407961
#   Commanded vehicle depth:  60.8045 
#   Seafloor depth:           -115.212461
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 126
#   Segment length 101.758687 meters
#   Minimum depth: 113.039279 meters looking forward 200.000000 meters along route
#   Maximum depth: 119.042309 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 63.039279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810673;
longitude = -122.092334;
duration = 203;
initialDepth = 66.016510;
finalDepth = 63.039279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.407961
#   Actual altitude:          54.407961
#   Commanded vehicle depth:  63.039279 
#   Seafloor depth:           -114.962625
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 126
#   Segment length 100.753514 meters
#   Minimum depth: 116.016510 meters looking forward 200.000000 meters along route
#   Maximum depth: 120.582431 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.016510 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810355;
longitude = -122.093404;
duration = 201;
initialDepth = 69.013421;
finalDepth = 66.016510;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.010798
#   Actual altitude:          53.010798
#   Commanded vehicle depth:  66.01651 
#   Seafloor depth:           -119.027308
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 126
#   Segment length 110.138798 meters
#   Minimum depth: 119.013421 meters looking forward 200.000000 meters along route
#   Maximum depth: 122.183293 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.013421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810039;
longitude = -122.094463;
duration = 220;
initialDepth = 71.564392;
finalDepth = 69.013421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.010798
#   Actual altitude:          53.010798
#   Commanded vehicle depth:  69.013421 
#   Seafloor depth:           -120.753593
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 to get to end of line 125
#   Segment length 161.841729 meters
#   Minimum depth: 121.564392 meters looking forward 200.000000 meters along route
#   Maximum depth: 128.045084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 71.564392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809694;
longitude = -122.095621;
duration = 323;
# abortOnTimeout    = True; 
initialDepth = 74.722303;
finalDepth = 71.564392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.740172
#   Actual altitude:          51.740172
#   Commanded vehicle depth:  71.564392 
#   Seafloor depth:           -122.430135
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 125
#   Segment length 108.776553 meters
#   Minimum depth: 124.722303 meters looking forward 200.000000 meters along route
#   Maximum depth: 131.469696 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.722303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808364;
longitude = -122.096368;
duration = 217;
initialDepth = 78.374830;
finalDepth = 74.722303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.377578
#   Actual altitude:          53.377578
#   Commanded vehicle depth:  74.722303 
#   Seafloor depth:           -128.099881
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 125
#   Segment length 109.710452 meters
#   Minimum depth: 128.374830 meters looking forward 200.000000 meters along route
#   Maximum depth: 134.255451 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 78.374830 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807471;
longitude = -122.096870;
duration = 219;
initialDepth = 82.109746;
finalDepth = 78.374830;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.377578
#   Actual altitude:          53.377578
#   Commanded vehicle depth:  78.37483 
#   Seafloor depth:           -131.542113
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 125
#   Segment length 109.710646 meters
#   Minimum depth: 132.109746 meters looking forward 200.000000 meters along route
#   Maximum depth: 136.575678 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 82.109746 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806569;
longitude = -122.097376;
duration = 219;
initialDepth = 85.487802;
finalDepth = 82.109746;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.167283
#   Actual altitude:          53.167283
#   Commanded vehicle depth:  82.109746 
#   Seafloor depth:           -134.963562
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 125
#   Segment length 109.710840 meters
#   Minimum depth: 135.487802 meters looking forward 200.000000 meters along route
#   Maximum depth: 144.160733 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 85.487802 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805668;
longitude = -122.097882;
duration = 219;
initialDepth = 86.582405;
finalDepth = 85.487802;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.853816
#   Actual altitude:          52.853816
#   Commanded vehicle depth:  85.487802 
#   Seafloor depth:           -137.095695
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.86;
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 125
#   Segment length 109.711035 meters
#   Minimum depth: 136.582405 meters looking forward 200.000000 meters along route
#   Maximum depth: 148.572684 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.582405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804767;
longitude = -122.098389;
duration = 219;
initialDepth = 94.460566;
finalDepth = 86.582405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2396
#   Actual altitude:          57.2396
#   Commanded vehicle depth:  86.582405 
#   Seafloor depth:           -143.822005
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
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 125
#   Segment length 109.711229 meters
#   Minimum depth: 144.460566 meters looking forward 200.000000 meters along route
#   Maximum depth: 155.930001 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 94.460566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803866;
longitude = -122.098895;
duration = 219;
initialDepth = 100.215300;
finalDepth = 94.460566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2396
#   Actual altitude:          57.2396
#   Commanded vehicle depth:  94.460566 
#   Seafloor depth:           -148.670850
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
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 125
#   Segment length 109.711424 meters
#   Minimum depth: 150.215300 meters looking forward 200.000000 meters along route
#   Maximum depth: 167.286912 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 100.215300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802964;
longitude = -122.099401;
duration = 219;
initialDepth = 108.357624;
finalDepth = 100.215300;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.892162
#   Actual altitude:          55.892162
#   Commanded vehicle depth:  100.2153 
#   Seafloor depth:           -156.107462
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.77;
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 125
#   Segment length 109.711618 meters
#   Minimum depth: 158.357624 meters looking forward 200.000000 meters along route
#   Maximum depth: 181.470044 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 108.357624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802063;
longitude = -122.099907;
duration = 219;
initialDepth = 120.693047;
finalDepth = 108.357624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.235314
#   Actual altitude:          60.235314
#   Commanded vehicle depth:  108.357624 
#   Seafloor depth:           -168.592938
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.07;
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 125
#   Segment length 102.397685 meters
#   Minimum depth: 170.693047 meters looking forward 200.000000 meters along route
#   Maximum depth: 196.488981 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 120.693047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801162;
longitude = -122.100414;
duration = 204;
initialDepth = 130.927341;
finalDepth = 120.693047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       60.235314
#   Actual altitude:          60.235314
#   Commanded vehicle depth:  120.693047 
#   Seafloor depth:           -180.927341
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.07;
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 to get to end of line 124
#   Segment length 93.552846 meters
#   Minimum depth: 180.927341 meters looking forward 200.000000 meters along route
#   Maximum depth: 201.337105 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 130.927341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800321;
longitude = -122.100886;
duration = 187;
# abortOnTimeout    = True; 
initialDepth = 146.488981;
finalDepth = 130.927341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.165982
#   Actual altitude:          66.165982
#   Commanded vehicle depth:  130.927341 
#   Seafloor depth:           -197.093323
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.235600 meters
#   Minimum depth: 196.488981 meters looking forward 200.000000 meters along route
#   Maximum depth: 206.341676 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 146.488981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799900;
longitude = -122.101795;
duration = 200;
initialDepth = 151.402896;
finalDepth = 146.488981;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.165982
#   Actual altitude:          66.165982
#   Commanded vehicle depth:  146.488981 
#   Seafloor depth:           -201.474907
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.236022 meters
#   Minimum depth: 201.402896 meters looking forward 200.000000 meters along route
#   Maximum depth: 210.302917 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 151.402896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799450;
longitude = -122.102769;
duration = 200;
initialDepth = 156.483264;
finalDepth = 151.402896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.073868
#   Actual altitude:          55.073868
#   Commanded vehicle depth:  151.402896 
#   Seafloor depth:           -206.476764
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.236445 meters
#   Minimum depth: 206.483264 meters looking forward 200.000000 meters along route
#   Maximum depth: 217.312875 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 156.483264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798999;
longitude = -122.103743;
duration = 200;
initialDepth = 160.514417;
finalDepth = 156.483264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.073868
#   Actual altitude:          55.073868
#   Commanded vehicle depth:  156.483264 
#   Seafloor depth:           -210.448796
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.236866 meters
#   Minimum depth: 210.514417 meters looking forward 200.000000 meters along route
#   Maximum depth: 225.168473 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 160.514417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798548;
longitude = -122.104717;
duration = 200;
initialDepth = 168.228695;
finalDepth = 160.514417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1247
#   Actual altitude:          57.1247
#   Commanded vehicle depth:  160.514417 
#   Seafloor depth:           -217.639117
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.237289 meters
#   Minimum depth: 218.228695 meters looking forward 200.000000 meters along route
#   Maximum depth: 230.036506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.228695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798098;
longitude = -122.105690;
duration = 200;
initialDepth = 175.294694;
finalDepth = 168.228695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.283195
#   Actual altitude:          57.283195
#   Commanded vehicle depth:  168.228695 
#   Seafloor depth:           -225.511890
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.237711 meters
#   Minimum depth: 225.294694 meters looking forward 200.000000 meters along route
#   Maximum depth: 240.836933 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.294694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797647;
longitude = -122.106664;
duration = 200;
initialDepth = 180.692254;
finalDepth = 175.294694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.283195
#   Actual altitude:          57.283195
#   Commanded vehicle depth:  175.294694 
#   Seafloor depth:           -230.607377
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.238133 meters
#   Minimum depth: 230.692254 meters looking forward 200.000000 meters along route
#   Maximum depth: 248.027329 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 180.692254 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797196;
longitude = -122.107638;
duration = 200;
initialDepth = 191.962965;
finalDepth = 180.692254;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.730518
#   Actual altitude:          60.730518
#   Commanded vehicle depth:  180.692254 
#   Seafloor depth:           -241.422772
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.415970 meters
#   Minimum depth: 241.962965 meters looking forward 200.000000 meters along route
#   Maximum depth: 257.691404 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.962965 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796746;
longitude = -122.108612;
duration = 200;
initialDepth = 198.794124;
finalDepth = 191.962965;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.730518
#   Actual altitude:          60.730518
#   Commanded vehicle depth:  191.962965 
#   Seafloor depth:           -248.121272
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.061564 meters
#   Minimum depth: 248.794124 meters looking forward 200.000000 meters along route
#   Maximum depth: 267.445267 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 198.794124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796294;
longitude = -122.109587;
duration = 200;
initialDepth = 210.556902;
finalDepth = 198.794124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.899703
#   Actual altitude:          58.899703
#   Commanded vehicle depth:  198.794124 
#   Seafloor depth:           -257.693827
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.239400 meters
#   Minimum depth: 260.556902 meters looking forward 200.000000 meters along route
#   Maximum depth: 281.351691 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 210.556902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795845;
longitude = -122.110559;
duration = 200;
initialDepth = 218.059287;
finalDepth = 210.556902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.899703
#   Actual altitude:          58.899703
#   Commanded vehicle depth:  210.556902 
#   Seafloor depth:           -267.875818
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 124
#   Segment length 100.239822 meters
#   Minimum depth: 268.059287 meters looking forward 200.000000 meters along route
#   Maximum depth: 294.333890 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 218.059287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795394;
longitude = -122.111533;
duration = 200;
initialDepth = 233.777037;
finalDepth = 218.059287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.901119
#   Actual altitude:          63.901119
#   Commanded vehicle depth:  218.059287 
#   Seafloor depth:           -281.960406
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.17;
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 124
#   Segment length 106.922943 meters
#   Minimum depth: 283.777037 meters looking forward 200.000000 meters along route
#   Maximum depth: 304.067123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 233.777037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794943;
longitude = -122.112507;
duration = 213;
initialDepth = 244.333890;
finalDepth = 233.777037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.901119
#   Actual altitude:          63.901119
#   Commanded vehicle depth:  233.777037 
#   Seafloor depth:           -294.413737
# 
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 = 19.17;
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;
}
# 
#######################################################
# 
# 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 123
#   Segment length 91.543957 meters
#   Minimum depth: 294.333890 meters looking forward 200.000000 meters along route
#   Maximum depth: 313.727167 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 244.333890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794463;
longitude = -122.113546;
duration = 183;
# abortOnTimeout    = True; 
initialDepth = 253.982829;
finalDepth = 244.333890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.6367
#   Actual altitude:          60.6367
#   Commanded vehicle depth:  244.33389 
#   Seafloor depth:           -303.982829
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.19;
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 123
#   Segment length 103.484771 meters
#   Minimum depth: 303.982829 meters looking forward 200.000000 meters along route
#   Maximum depth: 331.767097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 253.982829 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793772;
longitude = -122.112985;
duration = 206;
initialDepth = 268.100481;
finalDepth = 253.982829;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.826328
#   Actual altitude:          61.826328
#   Commanded vehicle depth:  253.982829 
#   Seafloor depth:           -315.809157
# 
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 = 18.55;
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 122
#   Segment length 159.280827 meters
#   Minimum depth: 318.100481 meters looking forward 200.000000 meters along route
#   Maximum depth: 331.780728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.100481 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792991;
longitude = -122.112351;
duration = 318;
# abortOnTimeout    = True; 
initialDepth = 256.335983;
finalDepth = 268.100481;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.486881
#   Actual altitude:          63.486881
#   Commanded vehicle depth:  268.100481 
#   Seafloor depth:           -331.587362
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.05;
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 122
#   Segment length 106.449457 meters
#   Minimum depth: 306.335983 meters looking forward 200.000000 meters along route
#   Maximum depth: 326.637551 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 256.335983 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793729;
longitude = -122.110820;
duration = 212;
initialDepth = 247.049775;
finalDepth = 256.335983;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.486881
#   Actual altitude:          63.486881
#   Commanded vehicle depth:  256.335983 
#   Seafloor depth:           -316.829108
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.05;
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 122
#   Segment length 103.333404 meters
#   Minimum depth: 297.049775 meters looking forward 200.000000 meters along route
#   Maximum depth: 314.541244 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 247.049775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794222;
longitude = -122.109796;
duration = 206;
initialDepth = 236.707177;
finalDepth = 247.049775;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.493125
#   Actual altitude:          60.493125
#   Commanded vehicle depth:  247.049775 
#   Seafloor depth:           -306.444841
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 122
#   Segment length 104.890730 meters
#   Minimum depth: 286.707177 meters looking forward 200.000000 meters along route
#   Maximum depth: 303.443511 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 236.707177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794701;
longitude = -122.108803;
duration = 209;
initialDepth = 226.595366;
finalDepth = 236.707177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.285085
#   Actual altitude:          60.285085
#   Commanded vehicle depth:  236.707177 
#   Seafloor depth:           -296.992262
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 122
#   Segment length 104.890264 meters
#   Minimum depth: 276.595366 meters looking forward 200.000000 meters along route
#   Maximum depth: 294.793286 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 226.595366 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795188;
longitude = -122.107795;
duration = 209;
initialDepth = 219.621633;
finalDepth = 226.595366;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.285085
#   Actual altitude:          60.285085
#   Commanded vehicle depth:  226.595366 
#   Seafloor depth:           -286.873591
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 122
#   Segment length 104.889796 meters
#   Minimum depth: 269.621633 meters looking forward 200.000000 meters along route
#   Maximum depth: 287.878447 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 219.621633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795674;
longitude = -122.106787;
duration = 209;
initialDepth = 208.400737;
finalDepth = 219.621633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.278225
#   Actual altitude:          60.278225
#   Commanded vehicle depth:  219.621633 
#   Seafloor depth:           -276.405599
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 122
#   Segment length 106.966341 meters
#   Minimum depth: 258.400737 meters looking forward 200.000000 meters along route
#   Maximum depth: 275.252271 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.400737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796160;
longitude = -122.105778;
duration = 213;
initialDepth = 201.572624;
finalDepth = 208.400737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.721318
#   Actual altitude:          59.721318
#   Commanded vehicle depth:  208.400737 
#   Seafloor depth:           -268.122055
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.92;
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 122
#   Segment length 102.811851 meters
#   Minimum depth: 251.572624 meters looking forward 200.000000 meters along route
#   Maximum depth: 267.610477 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 201.572624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796656;
longitude = -122.104750;
duration = 205;
initialDepth = 194.847473;
finalDepth = 201.572624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.721318
#   Actual altitude:          59.721318
#   Commanded vehicle depth:  201.572624 
#   Seafloor depth:           -258.092918
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.92;
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 122
#   Segment length 104.888396 meters
#   Minimum depth: 244.847473 meters looking forward 200.000000 meters along route
#   Maximum depth: 257.683885 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 194.847473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797132;
longitude = -122.103762;
duration = 209;
initialDepth = 188.028003;
finalDepth = 194.847473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.924758
#   Actual altitude:          56.924758
#   Commanded vehicle depth:  194.847473 
#   Seafloor depth:           -251.772231
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 122
#   Segment length 104.887929 meters
#   Minimum depth: 238.028003 meters looking forward 200.000000 meters along route
#   Maximum depth: 250.201214 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 188.028003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797618;
longitude = -122.102753;
duration = 209;
initialDepth = 182.017260;
finalDepth = 188.028003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.022841
#   Actual altitude:          57.022841
#   Commanded vehicle depth:  188.028003 
#   Seafloor depth:           -245.050844
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 122
#   Segment length 104.887462 meters
#   Minimum depth: 232.017260 meters looking forward 200.000000 meters along route
#   Maximum depth: 244.737512 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 182.017260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798105;
longitude = -122.101745;
duration = 209;
initialDepth = 176.022820;
finalDepth = 182.017260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.022841
#   Actual altitude:          57.022841
#   Commanded vehicle depth:  182.01726 
#   Seafloor depth:           -238.809605
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 122
#   Segment length 101.002300 meters
#   Minimum depth: 226.022820 meters looking forward 200.000000 meters along route
#   Maximum depth: 236.960837 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 176.022820 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798591;
longitude = -122.100737;
duration = 202;
initialDepth = 161.450221;
finalDepth = 176.022820;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       56.792345
#   Actual altitude:          56.792345
#   Commanded vehicle depth:  176.02282 
#   Seafloor depth:           -231.637191
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 121
#   Segment length 104.324578 meters
#   Minimum depth: 211.450221 meters looking forward 200.000000 meters along route
#   Maximum depth: 230.568253 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 161.450221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799059;
longitude = -122.099766;
duration = 208;
# abortOnTimeout    = True; 
initialDepth = 147.413417;
finalDepth = 161.450221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.176244
#   Actual altitude:          64.176244
#   Commanded vehicle depth:  161.450221 
#   Seafloor depth:           -225.626465
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.25;
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 121
#   Segment length 100.598504 meters
#   Minimum depth: 197.413417 meters looking forward 200.000000 meters along route
#   Maximum depth: 224.489705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 147.413417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799900;
longitude = -122.099243;
duration = 201;
initialDepth = 133.556224;
finalDepth = 147.413417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.176244
#   Actual altitude:          64.176244
#   Commanded vehicle depth:  147.413417 
#   Seafloor depth:           -209.897771
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.25;
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 121
#   Segment length 100.598312 meters
#   Minimum depth: 183.556224 meters looking forward 200.000000 meters along route
#   Maximum depth: 208.501976 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 133.556224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800711;
longitude = -122.098739;
duration = 201;
initialDepth = 121.118678;
finalDepth = 133.556224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.537755
#   Actual altitude:          62.537755
#   Commanded vehicle depth:  133.556224 
#   Seafloor depth:           -196.093979
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.598120 meters
#   Minimum depth: 171.118678 meters looking forward 200.000000 meters along route
#   Maximum depth: 195.747223 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.118678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801522;
longitude = -122.098235;
duration = 201;
initialDepth = 109.714671;
finalDepth = 121.118678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.537755
#   Actual altitude:          62.537755
#   Commanded vehicle depth:  121.118678 
#   Seafloor depth:           -182.708455
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 100.597927 meters
#   Minimum depth: 159.714671 meters looking forward 200.000000 meters along route
#   Maximum depth: 181.015808 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 109.714671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802334;
longitude = -122.097731;
duration = 201;
initialDepth = 101.375506;
finalDepth = 109.714671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.589777
#   Actual altitude:          61.589777
#   Commanded vehicle depth:  109.714671 
#   Seafloor depth:           -169.971672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.48;
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 121
#   Segment length 104.323574 meters
#   Minimum depth: 151.375506 meters looking forward 200.000000 meters along route
#   Maximum depth: 168.437429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 101.375506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803145;
longitude = -122.097227;
duration = 208;
initialDepth = 97.158836;
finalDepth = 101.375506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.257001
#   Actual altitude:          60.257001
#   Commanded vehicle depth:  101.375506 
#   Seafloor depth:           -158.877340
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 121
#   Segment length 104.323366 meters
#   Minimum depth: 147.158836 meters looking forward 200.000000 meters along route
#   Maximum depth: 157.764008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 97.158836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803986;
longitude = -122.096704;
duration = 208;
initialDepth = 93.373070;
finalDepth = 97.158836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.501834
#   Actual altitude:          57.501834
#   Commanded vehicle depth:  97.158836 
#   Seafloor depth:           -151.034337
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 120
#   Segment length 147.608975 meters
#   Minimum depth: 143.373070 meters looking forward 200.000000 meters along route
#   Maximum depth: 149.360001 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.373070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804827;
longitude = -122.096181;
duration = 295;
# abortOnTimeout    = True; 
initialDepth = 86.794162;
finalDepth = 93.373070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.966835
#   Actual altitude:          53.966835
#   Commanded vehicle depth:  93.37307 
#   Seafloor depth:           -147.339905
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 119
#   Segment length 105.608859 meters
#   Minimum depth: 136.794162 meters looking forward 200.000000 meters along route
#   Maximum depth: 145.665862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.794162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805999;
longitude = -122.095397;
duration = 211;
# abortOnTimeout    = True; 
initialDepth = 82.111901;
finalDepth = 86.794162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.993181
#   Actual altitude:          55.993181
#   Commanded vehicle depth:  86.794162 
#   Seafloor depth:           -142.787343
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 101.836895 meters
#   Minimum depth: 132.111901 meters looking forward 200.000000 meters along route
#   Maximum depth: 141.439949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 82.111901 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806840;
longitude = -122.094842;
duration = 203;
initialDepth = 75.551180;
finalDepth = 82.111901;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.993181
#   Actual altitude:          55.993181
#   Commanded vehicle depth:  82.111901 
#   Seafloor depth:           -136.180703
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 105.608404 meters
#   Minimum depth: 125.551180 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.412226 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 75.551180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807651;
longitude = -122.094308;
duration = 211;
initialDepth = 72.613758;
finalDepth = 75.551180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       56.440788
#   Actual altitude:          56.440788
#   Commanded vehicle depth:  75.55118 
#   Seafloor depth:           -131.991968
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 118
#   Segment length 131.856213 meters
#   Minimum depth: 122.613758 meters looking forward 200.000000 meters along route
#   Maximum depth: 129.848327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.613758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808492;
longitude = -122.093754;
duration = 263;
# abortOnTimeout    = True; 
initialDepth = 72.613758;
finalDepth = 72.613758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.440788
#   Actual altitude:          56.440788
#   Commanded vehicle depth:  72.613758 
#   Seafloor depth:           -124.939026
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 118
#   Segment length 106.347398 meters
#   Minimum depth: 122.613758 meters looking forward 200.000000 meters along route
#   Maximum depth: 127.135556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.613758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808825;
longitude = -122.092334;
duration = 212;
initialDepth = 74.564908;
finalDepth = 72.613758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.325268
#   Actual altitude:          52.325268
#   Commanded vehicle depth:  72.613758 
#   Seafloor depth:           -124.396695
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 118
#   Segment length 101.845621 meters
#   Minimum depth: 124.564908 meters looking forward 200.000000 meters along route
#   Maximum depth: 128.581599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.564908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809093;
longitude = -122.091190;
duration = 203;
initialDepth = 76.570525;
finalDepth = 74.564908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.909031
#   Actual altitude:          51.909031
#   Commanded vehicle depth:  74.564908 
#   Seafloor depth:           -126.473939
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 100.626187 meters
#   Minimum depth: 126.570525 meters looking forward 200.000000 meters along route
#   Maximum depth: 128.581599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 76.570525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809350;
longitude = -122.090094;
duration = 201;
initialDepth = 62.540994;
finalDepth = 76.570525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.909031
#   Actual altitude:          51.909031
#   Commanded vehicle depth:  76.570525 
#   Seafloor depth:           -128.322353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 117
#   Segment length 165.101387 meters
#   Minimum depth: 112.540994 meters looking forward 200.000000 meters along route
#   Maximum depth: 126.961029 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.540994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809604;
longitude = -122.089011;
duration = 330;
# abortOnTimeout    = True; 
initialDepth = 60.258113;
finalDepth = 62.540994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.127982
#   Actual altitude:          64.127982
#   Commanded vehicle depth:  62.540994 
#   Seafloor depth:           -126.668976
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.24;
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 117
#   Segment length 106.136190 meters
#   Minimum depth: 110.258113 meters looking forward 200.000000 meters along route
#   Maximum depth: 122.316492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.258113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810832;
longitude = -122.087965;
duration = 212;
initialDepth = 60.258113;
finalDepth = 60.258113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.127982
#   Actual altitude:          64.127982
#   Commanded vehicle depth:  60.258113 
#   Seafloor depth:           -112.412040
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.24;
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 117
#   Segment length 108.435471 meters
#   Minimum depth: 110.258113 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.735956 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.258113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811621;
longitude = -122.087293;
duration = 216;
initialDepth = 60.916164;
finalDepth = 60.258113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.153927
#   Actual altitude:          52.153927
#   Commanded vehicle depth:  60.258113 
#   Seafloor depth:           -110.274080
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 117
#   Segment length 109.054254 meters
#   Minimum depth: 110.916164 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.771454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 60.916164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812427;
longitude = -122.086606;
duration = 218;
initialDepth = 62.157384;
finalDepth = 60.916164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.812337
#   Actual altitude:          53.812337
#   Commanded vehicle depth:  60.916164 
#   Seafloor depth:           -114.728501
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 109.053910 meters
#   Minimum depth: 112.157384 meters looking forward 200.000000 meters along route
#   Maximum depth: 114.771454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.157384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813239;
longitude = -122.085916;
duration = 218;
initialDepth = 61.031163;
finalDepth = 62.157384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.812337
#   Actual altitude:          53.812337
#   Commanded vehicle depth:  62.157384 
#   Seafloor depth:           -114.098109
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 109.053567 meters
#   Minimum depth: 111.031163 meters looking forward 200.000000 meters along route
#   Maximum depth: 113.629796 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.031163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814050;
longitude = -122.085225;
duration = 218;
initialDepth = 59.842844;
finalDepth = 61.031163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.940725
#   Actual altitude:          51.940725
#   Commanded vehicle depth:  61.031163 
#   Seafloor depth:           -112.086501
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 117
#   Segment length 100.975219 meters
#   Minimum depth: 109.842844 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.941416 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.842844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814861;
longitude = -122.084534;
duration = 201;
initialDepth = 59.559937;
finalDepth = 59.842844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.106245
#   Actual altitude:          51.106245
#   Commanded vehicle depth:  59.842844 
#   Seafloor depth:           -110.949089
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 to get to end of line 116
#   Segment length 127.374674 meters
#   Minimum depth: 109.559937 meters looking forward 200.000000 meters along route
#   Maximum depth: 110.464708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.559937 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815612;
longitude = -122.083895;
duration = 254;
# abortOnTimeout    = True; 
initialDepth = 59.251555;
finalDepth = 59.559937;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.106245
#   Actual altitude:          51.106245
#   Commanded vehicle depth:  59.559937 
#   Seafloor depth:           -109.755717
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 100.559474 meters
#   Minimum depth: 109.251555 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.910319 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 59.251555 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815041;
longitude = -122.082656;
duration = 201;
initialDepth = 58.975911;
finalDepth = 59.251555;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.478816
#   Actual altitude:          50.478816
#   Commanded vehicle depth:  59.251555 
#   Seafloor depth:           -109.730371
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 100.559934 meters
#   Minimum depth: 108.975911 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.723895 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.975911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814590;
longitude = -122.081678;
duration = 201;
initialDepth = 58.567355;
finalDepth = 58.975911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.478816
#   Actual altitude:          50.478816
#   Commanded vehicle depth:  58.975911 
#   Seafloor depth:           -109.262714
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 100.560393 meters
#   Minimum depth: 108.567355 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.372237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.567355 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814140;
longitude = -122.080699;
duration = 201;
initialDepth = 57.523479;
finalDepth = 58.567355;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.394685
#   Actual altitude:          50.394685
#   Commanded vehicle depth:  58.567355 
#   Seafloor depth:           -108.962040
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 100.560854 meters
#   Minimum depth: 107.523479 meters looking forward 200.000000 meters along route
#   Maximum depth: 109.008452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.523479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813689;
longitude = -122.079721;
duration = 201;
initialDepth = 56.511495;
finalDepth = 57.523479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.083388
#   Actual altitude:          51.083388
#   Commanded vehicle depth:  57.523479 
#   Seafloor depth:           -108.606867
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 100.561313 meters
#   Minimum depth: 106.511495 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.632270 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.511495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813239;
longitude = -122.078743;
duration = 201;
initialDepth = 56.511495;
finalDepth = 56.511495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.083388
#   Actual altitude:          51.083388
#   Commanded vehicle depth:  56.511495 
#   Seafloor depth:           -107.469956
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 100.561772 meters
#   Minimum depth: 106.511495 meters looking forward 200.000000 meters along route
#   Maximum depth: 107.446494 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.511495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812788;
longitude = -122.077765;
duration = 201;
initialDepth = 56.430473;
finalDepth = 56.511495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.958461
#   Actual altitude:          50.958461
#   Commanded vehicle depth:  56.511495 
#   Seafloor depth:           -106.710133
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 100.562233 meters
#   Minimum depth: 106.430473 meters looking forward 200.000000 meters along route
#   Maximum depth: 107.400784 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 56.430473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812337;
longitude = -122.076787;
duration = 201;
initialDepth = 55.103459;
finalDepth = 56.430473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.486286
#   Actual altitude:          50.486286
#   Commanded vehicle depth:  56.430473 
#   Seafloor depth:           -106.916759
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 100.562692 meters
#   Minimum depth: 105.103459 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.968436 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.103459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811887;
longitude = -122.075808;
duration = 201;
initialDepth = 53.619921;
finalDepth = 55.103459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.235021
#   Actual altitude:          51.235021
#   Commanded vehicle depth:  55.103459 
#   Seafloor depth:           -106.338480
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 100.849658 meters
#   Minimum depth: 103.619921 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.153493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.619921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811436;
longitude = -122.074830;
duration = 201;
initialDepth = 52.582889;
finalDepth = 53.619921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.448018
#   Actual altitude:          51.448018
#   Commanded vehicle depth:  53.619921 
#   Seafloor depth:           -105.067939
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 103.657885 meters
#   Minimum depth: 102.582889 meters looking forward 200.000000 meters along route
#   Maximum depth: 104.951909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.582889 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810984;
longitude = -122.073849;
duration = 207;
initialDepth = 51.572480;
finalDepth = 52.582889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.448018
#   Actual altitude:          51.448018
#   Commanded vehicle depth:  52.582889 
#   Seafloor depth:           -103.616240
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 116
#   Segment length 103.658374 meters
#   Minimum depth: 101.572480 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.843120 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.572480 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810520;
longitude = -122.072841;
duration = 207;
initialDepth = 51.186765;
finalDepth = 51.572480;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.033351
#   Actual altitude:          51.033351
#   Commanded vehicle depth:  51.57248 
#   Seafloor depth:           -102.589322
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 107.498089 meters
#   Minimum depth: 101.186765 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.617869 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.186765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810055;
longitude = -122.071833;
duration = 214;
initialDepth = 50.967476;
finalDepth = 51.186765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.016842
#   Actual altitude:          51.016842
#   Commanded vehicle depth:  51.186765 
#   Seafloor depth:           -101.678219
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 115
#   Segment length 77.973626 meters
#   Minimum depth: 100.967476 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.873784 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.967476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809574;
longitude = -122.070787;
duration = 155;
# abortOnTimeout    = True; 
initialDepth = 50.862486;
finalDepth = 50.967476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.491454
#   Actual altitude:          50.491454
#   Commanded vehicle depth:  50.967476 
#   Seafloor depth:           -101.103994
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 115
#   Segment length 105.264838 meters
#   Minimum depth: 100.862486 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.356181 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.862486 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809208;
longitude = -122.070040;
duration = 210;
initialDepth = 50.392018;
finalDepth = 50.862486;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.486508
#   Actual altitude:          50.486508
#   Commanded vehicle depth:  50.862486 
#   Seafloor depth:           -101.348994
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 115
#   Segment length 105.265348 meters
#   Minimum depth: 100.392018 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.218104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.392018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808715;
longitude = -122.069032;
duration = 210;
initialDepth = 49.883896;
finalDepth = 50.392018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.486508
#   Actual altitude:          50.486508
#   Commanded vehicle depth:  50.392018 
#   Seafloor depth:           -100.874398
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 115
#   Segment length 105.265858 meters
#   Minimum depth: 99.883896 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.218104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.883896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808222;
longitude = -122.068024;
duration = 210;
initialDepth = 49.883896;
finalDepth = 49.883896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.221003
#   Actual altitude:          51.221003
#   Commanded vehicle depth:  49.883896 
#   Seafloor depth:           -101.104899
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 115
#   Segment length 105.266368 meters
#   Minimum depth: 99.883896 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.614361 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.883896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807730;
longitude = -122.067015;
duration = 210;
initialDepth = 49.737085;
finalDepth = 49.883896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.221003
#   Actual altitude:          51.221003
#   Commanded vehicle depth:  49.883896 
#   Seafloor depth:           -100.515260
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 115
#   Segment length 105.266877 meters
#   Minimum depth: 99.737085 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.756193 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.737085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.807237;
longitude = -122.066007;
duration = 210;
initialDepth = 49.737085;
finalDepth = 49.737085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.631364
#   Actual altitude:          50.631364
#   Commanded vehicle depth:  49.737085 
#   Seafloor depth:           -100.305935
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 115
#   Segment length 101.368587 meters
#   Minimum depth: 99.737085 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.756193 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.737085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806744;
longitude = -122.064999;
duration = 202;
initialDepth = 49.278216;
finalDepth = 49.737085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       50.56885
#   Actual altitude:          50.56885
#   Commanded vehicle depth:  49.737085 
#   Seafloor depth:           -100.079071
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 114
#   Segment length 126.396780 meters
#   Minimum depth: 99.278216 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.830152 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.278216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806269;
longitude = -122.064028;
duration = 252;
# abortOnTimeout    = True; 
initialDepth = 49.278216;
finalDepth = 49.278216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358096
#   Actual altitude:          51.358096
#   Commanded vehicle depth:  49.278216 
#   Seafloor depth:           -100.636312
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
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 114
#   Segment length 106.647641 meters
#   Minimum depth: 99.278216 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.767786 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.278216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.805308;
longitude = -122.063267;
duration = 213;
initialDepth = 50.031158;
finalDepth = 49.278216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358096
#   Actual altitude:          51.358096
#   Commanded vehicle depth:  49.278216 
#   Seafloor depth:           -99.828729
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
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 114
#   Segment length 108.340794 meters
#   Minimum depth: 100.031158 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.963412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.031158 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804497;
longitude = -122.062626;
duration = 216;
initialDepth = 51.023006;
finalDepth = 50.031158;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.757884
#   Actual altitude:          50.757884
#   Commanded vehicle depth:  50.031158 
#   Seafloor depth:           -100.789042
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 114
#   Segment length 104.955466 meters
#   Minimum depth: 101.023006 meters looking forward 200.000000 meters along route
#   Maximum depth: 104.033165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.023006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803673;
longitude = -122.061974;
duration = 209;
initialDepth = 51.918690;
finalDepth = 51.023006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.955087
#   Actual altitude:          50.955087
#   Commanded vehicle depth:  51.023006 
#   Seafloor depth:           -101.978093
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 106.648620 meters
#   Minimum depth: 101.918690 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.321162 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 51.918690 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802874;
longitude = -122.061343;
duration = 213;
initialDepth = 54.050649;
finalDepth = 51.918690;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.227897
#   Actual altitude:          52.227897
#   Commanded vehicle depth:  51.91869 
#   Seafloor depth:           -104.146587
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 during line 114
#   Segment length 106.648946 meters
#   Minimum depth: 104.050649 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.871048 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 54.050649 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.802063;
longitude = -122.060701;
duration = 213;
initialDepth = 55.411354;
finalDepth = 54.050649;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.227897
#   Actual altitude:          52.227897
#   Commanded vehicle depth:  54.050649 
#   Seafloor depth:           -105.466860
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 during line 114
#   Segment length 106.649273 meters
#   Minimum depth: 105.411354 meters looking forward 200.000000 meters along route
#   Maximum depth: 106.970233 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.411354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801252;
longitude = -122.060059;
duration = 213;
initialDepth = 55.833718;
finalDepth = 55.411354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.416211
#   Actual altitude:          51.416211
#   Commanded vehicle depth:  55.411354 
#   Seafloor depth:           -105.508310
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 102.699608 meters
#   Minimum depth: 105.833718 meters looking forward 200.000000 meters along route
#   Maximum depth: 108.480807 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 55.833718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800441;
longitude = -122.059418;
duration = 205;
initialDepth = 57.367096;
finalDepth = 55.833718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.382516
#   Actual altitude:          51.382516
#   Commanded vehicle depth:  55.833718 
#   Seafloor depth:           -107.216234
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
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 113
#   Segment length 103.683176 meters
#   Minimum depth: 107.367096 meters looking forward 200.000000 meters along route
#   Maximum depth: 111.015084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.367096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.799660;
longitude = -122.058800;
duration = 207;
# abortOnTimeout    = True; 
initialDepth = 58.993328;
finalDepth = 57.367096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.382516
#   Actual altitude:          51.382516
#   Commanded vehicle depth:  57.367096 
#   Seafloor depth:           -108.519877
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
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 113
#   Segment length 100.338553 meters
#   Minimum depth: 108.993328 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.145356 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 58.993328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798729;
longitude = -122.058702;
duration = 200;
initialDepth = 62.141845;
finalDepth = 58.993328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.557679
#   Actual altitude:          52.557679
#   Commanded vehicle depth:  58.993328 
#   Seafloor depth:           -111.551007
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 100.338547 meters
#   Minimum depth: 112.141845 meters looking forward 200.000000 meters along route
#   Maximum depth: 122.830303 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.141845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797827;
longitude = -122.058607;
duration = 200;
initialDepth = 68.861790;
finalDepth = 62.141845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.634572
#   Actual altitude:          56.634572
#   Commanded vehicle depth:  62.141845 
#   Seafloor depth:           -118.776417
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.99;
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 113
#   Segment length 100.338543 meters
#   Minimum depth: 118.861790 meters looking forward 200.000000 meters along route
#   Maximum depth: 132.010811 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 68.861790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796926;
longitude = -122.058513;
duration = 200;
initialDepth = 73.827378;
finalDepth = 68.861790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.634572
#   Actual altitude:          56.634572
#   Commanded vehicle depth:  68.86179 
#   Seafloor depth:           -123.392538
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.99;
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 113
#   Segment length 100.338538 meters
#   Minimum depth: 123.827378 meters looking forward 200.000000 meters along route
#   Maximum depth: 143.863791 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 73.827378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796025;
longitude = -122.058418;
duration = 200;
initialDepth = 84.109932;
finalDepth = 73.827378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.544356
#   Actual altitude:          59.544356
#   Commanded vehicle depth:  73.827378 
#   Seafloor depth:           -133.371734
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 113
#   Segment length 100.338533 meters
#   Minimum depth: 134.109932 meters looking forward 200.000000 meters along route
#   Maximum depth: 151.271945 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.109932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795124;
longitude = -122.058324;
duration = 200;
initialDepth = 95.888486;
finalDepth = 84.109932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.107507
#   Actual altitude:          61.107507
#   Commanded vehicle depth:  84.109932 
#   Seafloor depth:           -145.217439
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 during line 113
#   Segment length 107.034650 meters
#   Minimum depth: 145.888486 meters looking forward 200.000000 meters along route
#   Maximum depth: 158.025791 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 95.888486 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794222;
longitude = -122.058229;
duration = 214;
initialDepth = 100.434963;
finalDepth = 95.888486;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.107507
#   Actual altitude:          61.107507
#   Commanded vehicle depth:  95.888486 
#   Seafloor depth:           -151.622371
# 
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 = 18.33;
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;
}
# 
#######################################################
# 
# 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 112
#   Segment length 101.465766 meters
#   Minimum depth: 150.434963 meters looking forward 200.000000 meters along route
#   Maximum depth: 158.310635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 100.434963 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 = 85.021290;
finalDepth = 100.434963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.875672
#   Actual altitude:          57.875672
#   Commanded vehicle depth:  100.434963 
#   Seafloor depth:           -158.310635
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 112
#   Segment length 104.957044 meters
#   Minimum depth: 135.021290 meters looking forward 200.000000 meters along route
#   Maximum depth: 157.849818 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 85.021290 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 = 75.850868;
finalDepth = 85.021290;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.704728
#   Actual altitude:          63.704728
#   Commanded vehicle depth:  85.02129 
#   Seafloor depth:           -148.726018
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 112
#   Segment length 104.956952 meters
#   Minimum depth: 125.850868 meters looking forward 200.000000 meters along route
#   Maximum depth: 147.565923 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 75.850868 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 = 69.352990;
finalDepth = 75.850868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.704728
#   Actual altitude:          63.704728
#   Commanded vehicle depth:  75.850868 
#   Seafloor depth:           -133.126696
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 112
#   Segment length 104.963962 meters
#   Minimum depth: 119.352990 meters looking forward 200.000000 meters along route
#   Maximum depth: 132.037425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 69.352990 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 = 62.931414;
finalDepth = 69.352990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.275828
#   Actual altitude:          57.275828
#   Commanded vehicle depth:  69.35299 
#   Seafloor depth:           -125.100562
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 112
#   Segment length 104.949663 meters
#   Minimum depth: 112.931414 meters looking forward 200.000000 meters along route
#   Maximum depth: 124.190124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.931414 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 = 57.318921;
finalDepth = 62.931414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.421224
#   Actual altitude:          56.421224
#   Commanded vehicle depth:  62.931414 
#   Seafloor depth:           -119.352638
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 112
#   Segment length 104.956673 meters
#   Minimum depth: 107.318921 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.721046 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 57.318921 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 = 54.046655;
finalDepth = 57.318921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.421224
#   Actual altitude:          56.421224
#   Commanded vehicle depth:  57.318921 
#   Seafloor depth:           -112.342982
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 112
#   Segment length 104.956582 meters
#   Minimum depth: 104.046655 meters looking forward 200.000000 meters along route
#   Maximum depth: 112.319091 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 54.046655 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 = 53.264036;
finalDepth = 54.046655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.024061
#   Actual altitude:          55.024061
#   Commanded vehicle depth:  54.046655 
#   Seafloor depth:           -106.689332
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 112
#   Segment length 101.468791 meters
#   Minimum depth: 103.264036 meters looking forward 200.000000 meters along route
#   Maximum depth: 105.915006 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 53.264036 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 = 52.660725;
finalDepth = 53.264036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.642677
#   Actual altitude:          52.642677
#   Commanded vehicle depth:  53.264036 
#   Seafloor depth:           -103.968475
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 111
#   Segment length 108.846959 meters
#   Minimum depth: 102.660725 meters looking forward 200.000000 meters along route
#   Maximum depth: 104.164369 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.660725 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 = 52.115919;
finalDepth = 52.660725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.704439
#   Actual altitude:          50.704439
#   Commanded vehicle depth:  52.660725 
#   Seafloor depth:           -103.358938
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 111
#   Segment length 104.505654 meters
#   Minimum depth: 102.115919 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.370687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 52.115919 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 = 50.141971;
finalDepth = 52.115919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.698213
#   Actual altitude:          50.698213
#   Commanded vehicle depth:  52.115919 
#   Seafloor depth:           -102.804480
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 111
#   Segment length 104.505270 meters
#   Minimum depth: 100.141971 meters looking forward 200.000000 meters along route
#   Maximum depth: 103.034745 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 50.141971 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 = 49.229121;
finalDepth = 50.141971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.318042
#   Actual altitude:          52.318042
#   Commanded vehicle depth:  50.141971 
#   Seafloor depth:           -102.460013
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 111
#   Segment length 106.572432 meters
#   Minimum depth: 99.229121 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.175863 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.229121 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 = 48.637506;
finalDepth = 49.229121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.318042
#   Actual altitude:          52.318042
#   Commanded vehicle depth:  49.229121 
#   Seafloor depth:           -100.550590
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 111
#   Segment length 102.436957 meters
#   Minimum depth: 98.637506 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.362957 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.637506 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 = 48.637506;
finalDepth = 48.637506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.321469
#   Actual altitude:          51.321469
#   Commanded vehicle depth:  48.637506 
#   Seafloor depth:           -99.195748
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 111
#   Segment length 104.504119 meters
#   Minimum depth: 98.637506 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.384823 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.637506 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 = 48.564490;
finalDepth = 48.637506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.73096
#   Actual altitude:          51.73096
#   Commanded vehicle depth:  48.637506 
#   Seafloor depth:           -100.368466
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 111
#   Segment length 108.866897 meters
#   Minimum depth: 98.564490 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.365881 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.564490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804767;
longitude = -122.050734;
duration = 217;
initialDepth = 48.564490;
finalDepth = 48.564490;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.73096
#   Actual altitude:          51.73096
#   Commanded vehicle depth:  48.56449 
#   Seafloor depth:           -99.229602
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 113.920083 meters
#   Minimum depth: 98.564490 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.000449 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.564490 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 = 49.651010;
finalDepth = 48.564490;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.07759
#   Actual altitude:          51.07759
#   Commanded vehicle depth:  48.56449 
#   Seafloor depth:           -99.642080
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 106.087338 meters
#   Minimum depth: 99.651010 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.496061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.651010 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 = 49.185709;
finalDepth = 49.651010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.07759
#   Actual altitude:          51.07759
#   Commanded vehicle depth:  49.65101 
#   Seafloor depth:           -99.651010
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 106.086858 meters
#   Minimum depth: 99.185709 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.072726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.185709 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 = 49.185709;
finalDepth = 49.185709;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.310682
#   Actual altitude:          52.310682
#   Commanded vehicle depth:  49.185709 
#   Seafloor depth:           -101.496391
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 106.086377 meters
#   Minimum depth: 99.185709 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.072726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 49.185709 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 = 47.570053;
finalDepth = 49.185709;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.310682
#   Actual altitude:          52.310682
#   Commanded vehicle depth:  49.185709 
#   Seafloor depth:           -99.964157
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 108.383327 meters
#   Minimum depth: 97.570053 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.243054 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.570053 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 = 47.544672;
finalDepth = 47.570053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.511314
#   Actual altitude:          52.511314
#   Commanded vehicle depth:  47.570053 
#   Seafloor depth:           -100.081367
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 103.787986 meters
#   Minimum depth: 97.544672 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.839875 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.544672 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 = 47.657908;
finalDepth = 47.544672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.511314
#   Actual altitude:          52.511314
#   Commanded vehicle depth:  47.544672 
#   Seafloor depth:           -97.544672
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 103.639318 meters
#   Minimum depth: 97.657908 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.436703 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.657908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808598;
longitude = -122.043825;
duration = 207;
initialDepth = 47.572984;
finalDepth = 47.657908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.319082
#   Actual altitude:          51.319082
#   Commanded vehicle depth:  47.657908 
#   Seafloor depth:           -98.976990
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 110
#   Segment length 100.669896 meters
#   Minimum depth: 97.572984 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.837886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.572984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809093;
longitude = -122.042840;
duration = 201;
initialDepth = 47.303985;
finalDepth = 47.572984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.319082
#   Actual altitude:          51.319082
#   Commanded vehicle depth:  47.572984 
#   Seafloor depth:           -98.587116
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 91.656047 meters
#   Minimum depth: 97.303985 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.756549 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.303985 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 = 47.303985;
finalDepth = 47.303985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.014132
#   Actual altitude:          51.014132
#   Commanded vehicle depth:  47.303985 
#   Seafloor depth:           -97.498068
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.132506 meters
#   Minimum depth: 97.303985 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.838667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.303985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809904;
longitude = -122.040941;
duration = 200;
initialDepth = 46.408771;
finalDepth = 47.303985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.265742
#   Actual altitude:          51.265742
#   Commanded vehicle depth:  47.303985 
#   Seafloor depth:           -98.569727
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.132132 meters
#   Minimum depth: 96.408771 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.838667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.408771 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810264;
longitude = -122.039912;
duration = 200;
initialDepth = 46.220038;
finalDepth = 46.408771;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.689637
#   Actual altitude:          51.689637
#   Commanded vehicle depth:  46.408771 
#   Seafloor depth:           -98.098408
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.131757 meters
#   Minimum depth: 96.220038 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.238499 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.220038 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810625;
longitude = -122.038883;
duration = 200;
initialDepth = 46.220038;
finalDepth = 46.220038;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.689637
#   Actual altitude:          51.689637
#   Commanded vehicle depth:  46.220038 
#   Seafloor depth:           -96.399584
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.131383 meters
#   Minimum depth: 96.220038 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.313239 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.220038 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810985;
longitude = -122.037854;
duration = 200;
initialDepth = 45.786395;
finalDepth = 46.220038;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.875753
#   Actual altitude:          50.875753
#   Commanded vehicle depth:  46.220038 
#   Seafloor depth:           -97.095791
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.131009 meters
#   Minimum depth: 95.786395 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.313239 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.786395 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811346;
longitude = -122.036825;
duration = 200;
initialDepth = 45.628208;
finalDepth = 45.786395;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.255466
#   Actual altitude:          51.255466
#   Commanded vehicle depth:  45.786395 
#   Seafloor depth:           -97.041861
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.130635 meters
#   Minimum depth: 95.628208 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.930476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.628208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811706;
longitude = -122.035796;
duration = 200;
initialDepth = 45.628208;
finalDepth = 45.628208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.255466
#   Actual altitude:          51.255466
#   Commanded vehicle depth:  45.628208 
#   Seafloor depth:           -95.797378
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.130261 meters
#   Minimum depth: 95.628208 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.727680 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.628208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812067;
longitude = -122.034767;
duration = 200;
initialDepth = 45.163083;
finalDepth = 45.628208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.765829
#   Actual altitude:          50.765829
#   Commanded vehicle depth:  45.628208 
#   Seafloor depth:           -96.394037
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 100.129886 meters
#   Minimum depth: 95.163083 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.805481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.163083 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812427;
longitude = -122.033737;
duration = 200;
initialDepth = 44.948165;
finalDepth = 45.163083;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.104465
#   Actual altitude:          51.104465
#   Commanded vehicle depth:  45.163083 
#   Seafloor depth:           -96.267548
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.129512 meters
#   Minimum depth: 94.948165 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.805481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.948165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812788;
longitude = -122.032708;
duration = 200;
initialDepth = 44.948165;
finalDepth = 44.948165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.104465
#   Actual altitude:          51.104465
#   Commanded vehicle depth:  44.948165 
#   Seafloor depth:           -95.153661
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.129138 meters
#   Minimum depth: 94.948165 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.399743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.948165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813148;
longitude = -122.031679;
duration = 200;
initialDepth = 44.663586;
finalDepth = 44.948165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.138423
#   Actual altitude:          51.138423
#   Commanded vehicle depth:  44.948165 
#   Seafloor depth:           -96.086588
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.128764 meters
#   Minimum depth: 94.663586 meters looking forward 200.000000 meters along route
#   Maximum depth: 96.399743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.663586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813509;
longitude = -122.030650;
duration = 200;
initialDepth = 44.663586;
finalDepth = 44.663586;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.138423
#   Actual altitude:          51.138423
#   Commanded vehicle depth:  44.663586 
#   Seafloor depth:           -95.038755
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.128390 meters
#   Minimum depth: 94.663586 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.157836 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.663586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813869;
longitude = -122.029621;
duration = 200;
initialDepth = 44.664897;
finalDepth = 44.663586;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.460851
#   Actual altitude:          50.460851
#   Commanded vehicle depth:  44.663586 
#   Seafloor depth:           -95.124437
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.128016 meters
#   Minimum depth: 94.664897 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.157836 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.664897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814230;
longitude = -122.028592;
duration = 200;
initialDepth = 43.900840;
finalDepth = 44.664897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.460851
#   Actual altitude:          50.460851
#   Commanded vehicle depth:  44.664897 
#   Seafloor depth:           -94.948353
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.127642 meters
#   Minimum depth: 93.900840 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.039058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 43.900840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814590;
longitude = -122.027563;
duration = 200;
initialDepth = 42.487436;
finalDepth = 43.900840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.74902
#   Actual altitude:          50.74902
#   Commanded vehicle depth:  43.90084 
#   Seafloor depth:           -94.649860
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 100.127267 meters
#   Minimum depth: 92.487436 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.719334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.487436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814951;
longitude = -122.026534;
duration = 200;
initialDepth = 42.151166;
finalDepth = 42.487436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.563791
#   Actual altitude:          51.563791
#   Commanded vehicle depth:  42.487436 
#   Seafloor depth:           -94.051227
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.126894 meters
#   Minimum depth: 92.151166 meters looking forward 200.000000 meters along route
#   Maximum depth: 93.910984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.151166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815311;
longitude = -122.025505;
duration = 200;
initialDepth = 41.649002;
finalDepth = 42.151166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.563791
#   Actual altitude:          51.563791
#   Commanded vehicle depth:  42.151166 
#   Seafloor depth:           -92.371263
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.126519 meters
#   Minimum depth: 91.649002 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.760055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.649002 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815672;
longitude = -122.024476;
duration = 200;
initialDepth = 41.211590;
finalDepth = 41.649002;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.277454
#   Actual altitude:          50.277454
#   Commanded vehicle depth:  41.649002 
#   Seafloor depth:           -91.926456
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.126146 meters
#   Minimum depth: 91.211590 meters looking forward 200.000000 meters along route
#   Maximum depth: 91.906693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.211590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816032;
longitude = -122.023447;
duration = 200;
initialDepth = 41.211590;
finalDepth = 41.211590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.516965
#   Actual altitude:          50.516965
#   Commanded vehicle depth:  41.21159 
#   Seafloor depth:           -91.728555
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.125771 meters
#   Minimum depth: 91.211590 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.276189 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.211590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816393;
longitude = -122.022418;
duration = 200;
initialDepth = 41.629193;
finalDepth = 41.211590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.516965
#   Actual altitude:          50.516965
#   Commanded vehicle depth:  41.21159 
#   Seafloor depth:           -91.382919
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.125398 meters
#   Minimum depth: 91.629193 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.460770 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.629193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.816753;
longitude = -122.021389;
duration = 200;
initialDepth = 42.066068;
finalDepth = 41.629193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.614208
#   Actual altitude:          50.614208
#   Commanded vehicle depth:  41.629193 
#   Seafloor depth:           -92.243401
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.125024 meters
#   Minimum depth: 92.066068 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.945142 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.066068 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 = 41.907400;
finalDepth = 42.066068;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.614208
#   Actual altitude:          50.614208
#   Commanded vehicle depth:  42.066068 
#   Seafloor depth:           -92.552782
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.124649 meters
#   Minimum depth: 91.907400 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.945142 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.907400 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 = 41.802939;
finalDepth = 41.907400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.486714
#   Actual altitude:          50.486714
#   Commanded vehicle depth:  41.9074 
#   Seafloor depth:           -92.264030
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 109
#   Segment length 100.124276 meters
#   Minimum depth: 91.802939 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.276933 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.802939 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 = 41.530259;
finalDepth = 41.802939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.35663
#   Actual altitude:          50.35663
#   Commanded vehicle depth:  41.802939 
#   Seafloor depth:           -91.905432
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 100.123902 meters
#   Minimum depth: 91.530259 meters looking forward 200.000000 meters along route
#   Maximum depth: 91.940739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.530259 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 = 41.530259;
finalDepth = 41.530259;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.296405
#   Actual altitude:          50.296405
#   Commanded vehicle depth:  41.530259 
#   Seafloor depth:           -91.826664
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 106.861414 meters
#   Minimum depth: 91.530259 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.836852 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.530259 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 = 42.483676;
finalDepth = 41.530259;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.296405
#   Actual altitude:          50.296405
#   Commanded vehicle depth:  41.530259 
#   Seafloor depth:           -91.653536
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 101.749482 meters
#   Minimum depth: 92.483676 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.790688 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.483676 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 = 47.388898;
finalDepth = 42.483676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.51015
#   Actual altitude:          53.51015
#   Commanded vehicle depth:  42.483676 
#   Seafloor depth:           -95.993826
# 
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 108
#   Segment length 166.389712 meters
#   Minimum depth: 97.388898 meters looking forward 200.000000 meters along route
#   Maximum depth: 101.603475 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.388898 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 = 48.482387;
finalDepth = 47.388898;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.51015
#   Actual altitude:          53.51015
#   Commanded vehicle depth:  47.388898 
#   Seafloor depth:           -97.833691
# 
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 107
#   Segment length 83.667354 meters
#   Minimum depth: 98.482387 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.019798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.482387 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.818045;
longitude = -122.013091;
duration = 167;
# abortOnTimeout    = True; 
initialDepth = 45.005511;
finalDepth = 48.482387;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.537411
#   Actual altitude:          53.537411
#   Commanded vehicle depth:  48.482387 
#   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 = 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 107
#   Segment length 100.464157 meters
#   Minimum depth: 95.005511 meters looking forward 200.000000 meters along route
#   Maximum depth: 102.019798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.005511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817745;
longitude = -122.013951;
duration = 200;
initialDepth = 41.989720;
finalDepth = 45.005511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.184905
#   Actual altitude:          54.184905
#   Commanded vehicle depth:  45.005511 
#   Seafloor depth:           -99.190416
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.464532 meters
#   Minimum depth: 91.989720 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.142513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.989720 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817384;
longitude = -122.014985;
duration = 200;
initialDepth = 41.815051;
finalDepth = 41.989720;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.184905
#   Actual altitude:          54.184905
#   Commanded vehicle depth:  41.98972 
#   Seafloor depth:           -94.620230
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.464909 meters
#   Minimum depth: 91.815051 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.250719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.815051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.817024;
longitude = -122.016018;
duration = 200;
initialDepth = 41.815051;
finalDepth = 41.815051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.63051
#   Actual altitude:          52.63051
#   Commanded vehicle depth:  41.815051 
#   Seafloor depth:           -91.876409
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.465284 meters
#   Minimum depth: 91.815051 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.933869 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 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 = 36.816663;
longitude = -122.017051;
duration = 200;
initialDepth = 41.871424;
finalDepth = 41.815051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.067352
#   Actual altitude:          50.067352
#   Commanded vehicle depth:  41.815051 
#   Seafloor depth:           -91.882403
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.465659 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: 438.162294 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 = 36.816303;
longitude = -122.018084;
duration = 200;
initialDepth = 41.837518;
finalDepth = 41.871424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.290469
#   Actual altitude:          51.290469
#   Commanded vehicle depth:  41.871424 
#   Seafloor depth:           -93.161893
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
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 107
#   Segment length 100.466035 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: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.837518 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815942;
longitude = -122.019118;
duration = 200;
initialDepth = 41.645159;
finalDepth = 41.837518;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.004867
#   Actual altitude:          52.004867
#   Commanded vehicle depth:  41.837518 
#   Seafloor depth:           -93.842385
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.466411 meters
#   Minimum depth: 91.645159 meters looking forward 200.000000 meters along route
#   Maximum depth: 93.724820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.645159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.815582;
longitude = -122.020151;
duration = 200;
initialDepth = 41.645159;
finalDepth = 41.645159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.004867
#   Actual altitude:          52.004867
#   Commanded vehicle depth:  41.645159 
#   Seafloor depth:           -91.996500
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.466786 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: 438.162294 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 = 36.815221;
longitude = -122.021184;
duration = 200;
initialDepth = 41.824859;
finalDepth = 41.645159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.351341
#   Actual altitude:          50.351341
#   Commanded vehicle depth:  41.645159 
#   Seafloor depth:           -91.985434
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.467162 meters
#   Minimum depth: 91.824859 meters looking forward 200.000000 meters along route
#   Maximum depth: 92.608486 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 41.824859 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.814861;
longitude = -122.022217;
duration = 200;
initialDepth = 41.824859;
finalDepth = 41.824859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.601559
#   Actual altitude:          50.601559
#   Commanded vehicle depth:  41.824859 
#   Seafloor depth:           -92.426418
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.467538 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: 438.162294 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 = 36.814500;
longitude = -122.023251;
duration = 200;
initialDepth = 41.906806;
finalDepth = 41.824859;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.841413
#   Actual altitude:          50.841413
#   Commanded vehicle depth:  41.824859 
#   Seafloor depth:           -92.666272
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
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 107
#   Segment length 100.467913 meters
#   Minimum depth: 91.906806 meters looking forward 200.000000 meters along route
#   Maximum depth: 94.256889 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 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 = 36.814140;
longitude = -122.024284;
duration = 200;
initialDepth = 42.179907;
finalDepth = 41.906806;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.841413
#   Actual altitude:          50.841413
#   Commanded vehicle depth:  41.906806 
#   Seafloor depth:           -92.165327
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
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 107
#   Segment length 100.468289 meters
#   Minimum depth: 92.179907 meters looking forward 200.000000 meters along route
#   Maximum depth: 95.326750 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.179907 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813779;
longitude = -122.025317;
duration = 200;
initialDepth = 44.364356;
finalDepth = 42.179907;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.158403
#   Actual altitude:          52.158403
#   Commanded vehicle depth:  42.179907 
#   Seafloor depth:           -94.338310
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
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 107
#   Segment length 100.468665 meters
#   Minimum depth: 94.364356 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.588542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 44.364356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813419;
longitude = -122.026350;
duration = 200;
initialDepth = 45.563604;
finalDepth = 44.364356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.158403
#   Actual altitude:          52.158403
#   Commanded vehicle depth:  44.364356 
#   Seafloor depth:           -95.123849
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
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 107
#   Segment length 100.469041 meters
#   Minimum depth: 95.563604 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.960163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.563604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.813058;
longitude = -122.027383;
duration = 200;
initialDepth = 46.864963;
finalDepth = 45.563604;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.023397
#   Actual altitude:          52.023397
#   Commanded vehicle depth:  45.563604 
#   Seafloor depth:           -97.587001
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
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 107
#   Segment length 100.469416 meters
#   Minimum depth: 96.864963 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.960163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.864963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812698;
longitude = -122.028417;
duration = 200;
initialDepth = 46.821545;
finalDepth = 46.864963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.023397
#   Actual altitude:          52.023397
#   Commanded vehicle depth:  46.864963 
#   Seafloor depth:           -97.939674
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
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 107
#   Segment length 100.469792 meters
#   Minimum depth: 96.821545 meters looking forward 200.000000 meters along route
#   Maximum depth: 98.245793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.821545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.812337;
longitude = -122.029450;
duration = 200;
initialDepth = 46.821545;
finalDepth = 46.821545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.074711
#   Actual altitude:          51.074711
#   Commanded vehicle depth:  46.821545 
#   Seafloor depth:           -96.853901
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
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 107
#   Segment length 100.470168 meters
#   Minimum depth: 96.821545 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.585870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 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 = 36.811977;
longitude = -122.030483;
duration = 200;
initialDepth = 48.588449;
finalDepth = 46.821545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.727778
#   Actual altitude:          51.727778
#   Commanded vehicle depth:  46.821545 
#   Seafloor depth:           -98.549323
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
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 107
#   Segment length 100.470544 meters
#   Minimum depth: 98.588449 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.985983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.588449 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811616;
longitude = -122.031516;
duration = 200;
initialDepth = 46.867092;
finalDepth = 48.588449;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.727778
#   Actual altitude:          51.727778
#   Commanded vehicle depth:  48.588449 
#   Seafloor depth:           -99.334033
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
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 107
#   Segment length 100.470920 meters
#   Minimum depth: 96.867092 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.985983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.867092 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.811256;
longitude = -122.032550;
duration = 200;
initialDepth = 45.612186;
finalDepth = 46.867092;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.352545
#   Actual altitude:          52.352545
#   Commanded vehicle depth:  46.867092 
#   Seafloor depth:           -99.219637
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.471296 meters
#   Minimum depth: 95.612186 meters looking forward 200.000000 meters along route
#   Maximum depth: 99.158810 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 45.612186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810895;
longitude = -122.033583;
duration = 200;
initialDepth = 45.612186;
finalDepth = 45.612186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.352545
#   Actual altitude:          52.352545
#   Commanded vehicle depth:  45.612186 
#   Seafloor depth:           -96.686425
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.471671 meters
#   Minimum depth: 95.612186 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.391872 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 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 = 36.810535;
longitude = -122.034616;
duration = 200;
initialDepth = 46.344657;
finalDepth = 45.612186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.074239
#   Actual altitude:          51.074239
#   Commanded vehicle depth:  45.612186 
#   Seafloor depth:           -96.296376
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 100.472047 meters
#   Minimum depth: 96.344657 meters looking forward 200.000000 meters along route
#   Maximum depth: 97.662454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.344657 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.810174;
longitude = -122.035649;
duration = 200;
initialDepth = 46.608756;
finalDepth = 46.344657;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.049228
#   Actual altitude:          51.049228
#   Commanded vehicle depth:  46.344657 
#   Seafloor depth:           -97.393885
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
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 107
#   Segment length 100.472424 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: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 46.608756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809814;
longitude = -122.036682;
duration = 200;
initialDepth = 46.608756;
finalDepth = 46.608756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.049228
#   Actual altitude:          51.049228
#   Commanded vehicle depth:  46.608756 
#   Seafloor depth:           -97.328293
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
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 107
#   Segment length 103.826568 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: 438.162294 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 = 36.809453;
longitude = -122.037716;
duration = 207;
initialDepth = 47.084403;
finalDepth = 46.608756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.719537
#   Actual altitude:          50.719537
#   Commanded vehicle depth:  46.608756 
#   Seafloor depth:           -96.748987
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 108.941731 meters
#   Minimum depth: 97.084403 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.467858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.084403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.809081;
longitude = -122.038783;
duration = 217;
initialDepth = 47.798908;
finalDepth = 47.084403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.872999
#   Actual altitude:          50.872999
#   Commanded vehicle depth:  47.084403 
#   Seafloor depth:           -97.957402
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
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 107
#   Segment length 105.337195 meters
#   Minimum depth: 97.798908 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.499200 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 47.798908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808690;
longitude = -122.039904;
duration = 210;
initialDepth = 48.831656;
finalDepth = 47.798908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.700292
#   Actual altitude:          52.700292
#   Commanded vehicle depth:  47.798908 
#   Seafloor depth:           -100.499200
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 106
#   Segment length 180.416343 meters
#   Minimum depth: 98.831656 meters looking forward 200.000000 meters along route
#   Maximum depth: 100.879443 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 48.831656 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 = 48.831656;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.700292
#   Actual altitude:          52.700292
#   Commanded vehicle depth:  48.831656 
#   Seafloor depth:           -99.465866
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 109.986000 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: 438.162294 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 106
#   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: 438.162294 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 106
#   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: 438.162294 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 106
#   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: 438.162294 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 106
#   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: 438.162294 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 106
#   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: 438.162294 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 105
#   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: 438.162294 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 105
#   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: 438.162294 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 105
#   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: 438.162294 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 105
#   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: 438.162294 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 105
#   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: 438.162294 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 105
#   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: 438.162294 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 105
#   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: 438.162294 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 104
#   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: 438.162294 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 104
#   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: 438.162294 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 104
#   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: 438.162294 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 104
#   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: 438.162294 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 104
#   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: 438.162294 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 104
#   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: 438.162294 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 103
#   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: 438.162294 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 103
#   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: 438.162294 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 103
#   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: 438.162294 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 103
#   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: 438.162294 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 102
#   Segment length 82.289763 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: 438.162294 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 102
#   Segment length 100.932601 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: 438.162294 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 102
#   Segment length 100.932382 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: 438.162294 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 102
#   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: 438.162294 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 102
#   Segment length 100.931949 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: 438.162294 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 102
#   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: 438.162294 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 102
#   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: 438.162294 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 101
#   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: 438.162294 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 101
#   Segment length 100.077275 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: 438.162294 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 101
#   Segment length 100.077076 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: 438.162294 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 101
#   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: 438.162294 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 100
#   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: 438.162294 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 100
#   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: 438.162294 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 100
#   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: 438.162294 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 100
#   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: 438.162294 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 100
#   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: 438.162294 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 100
#   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: 438.162294 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 100
#   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: 438.162294 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 99
#   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: 438.162294 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 99
#   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: 438.162294 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 99
#   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: 438.162294 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 99
#   Segment length 108.689177 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: 438.162294 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 99
#   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: 438.162294 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 99
#   Segment length 108.449042 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: 438.162294 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 98
#   Segment length 112.726448 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: 438.162294 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 98
#   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: 438.162294 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 98
#   Segment length 102.576409 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: 438.162294 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 98
#   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: 438.162294 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 98
#   Segment length 104.936474 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: 438.162294 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 98
#   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: 438.162294 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 98
#   Segment length 106.677532 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: 438.162294 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 98
#   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: 438.162294 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 98
#   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: 438.162294 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 98
#   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: 438.162294 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 98
#   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: 438.162294 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 97
#   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: 438.162294 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 97
#   Segment length 100.150321 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: 438.162294 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 97
#   Segment length 100.150640 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: 438.162294 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 97
#   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: 438.162294 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 97
#   Segment length 104.050304 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: 438.162294 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 = 72.782025;
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 96
#   Segment length 92.020479 meters
#   Minimum depth: 122.782025 meters looking forward 200.000000 meters along route
#   Maximum depth: 124.892130 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.782025 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 = 72.782025;
finalDepth = 72.782025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.094101
#   Actual altitude:          52.094101
#   Commanded vehicle depth:  72.782025 
#   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 96
#   Segment length 105.174174 meters
#   Minimum depth: 122.782025 meters looking forward 200.000000 meters along route
#   Maximum depth: 143.871951 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.782025 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 = 74.892130;
finalDepth = 72.782025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       52.222342
#   Actual altitude:          52.222342
#   Commanded vehicle depth:  72.782025 
#   Seafloor depth:           -125.004367
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 95
#   Segment length 88.503850 meters
#   Minimum depth: 124.892130 meters looking forward 200.000000 meters along route
#   Maximum depth: 163.221475 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 74.892130 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 = 93.480369;
finalDepth = 74.892130;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.571424
#   Actual altitude:          69.571424
#   Commanded vehicle depth:  74.89213 
#   Seafloor depth:           -144.463554
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 95
#   Segment length 102.160613 meters
#   Minimum depth: 143.480369 meters looking forward 200.000000 meters along route
#   Maximum depth: 173.062876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.480369 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 = 93.769712;
finalDepth = 93.480369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.294119
#   Actual altitude:          71.294119
#   Commanded vehicle depth:  93.480369 
#   Seafloor depth:           -164.774488
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 95
#   Segment length 102.160835 meters
#   Minimum depth: 143.769712 meters looking forward 200.000000 meters along route
#   Maximum depth: 173.062876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.769712 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 = 88.757909;
finalDepth = 93.769712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.294119
#   Actual altitude:          71.294119
#   Commanded vehicle depth:  93.769712 
#   Seafloor depth:           -164.843504
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 95
#   Segment length 108.954781 meters
#   Minimum depth: 138.757909 meters looking forward 200.000000 meters along route
#   Maximum depth: 161.195712 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 88.757909 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 = 88.021163;
finalDepth = 88.757909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       71.073792
#   Actual altitude:          71.073792
#   Commanded vehicle depth:  88.757909 
#   Seafloor depth:           -142.897321
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 94
#   Segment length 105.546216 meters
#   Minimum depth: 138.021163 meters looking forward 200.000000 meters along route
#   Maximum depth: 144.520559 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 88.021163 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 = 89.408426;
finalDepth = 88.021163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.139412
#   Actual altitude:          54.139412
#   Commanded vehicle depth:  88.021163 
#   Seafloor depth:           -138.280064
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 94
#   Segment length 101.782806 meters
#   Minimum depth: 139.408426 meters looking forward 200.000000 meters along route
#   Maximum depth: 149.664543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 89.408426 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 = 94.853751;
finalDepth = 89.408426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.168517
#   Actual altitude:          55.168517
#   Commanded vehicle depth:  89.408426 
#   Seafloor depth:           -144.576943
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 94
#   Segment length 101.783021 meters
#   Minimum depth: 144.853751 meters looking forward 200.000000 meters along route
#   Maximum depth: 158.805038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 94.853751 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 = 101.089252;
finalDepth = 94.853751;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.168517
#   Actual altitude:          55.168517
#   Commanded vehicle depth:  94.853751 
#   Seafloor depth:           -149.824130
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 94
#   Segment length 101.783235 meters
#   Minimum depth: 151.089252 meters looking forward 200.000000 meters along route
#   Maximum depth: 164.129913 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 101.089252 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 = 110.376718;
finalDepth = 101.089252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.952467
#   Actual altitude:          57.952467
#   Commanded vehicle depth:  101.089252 
#   Seafloor depth:           -159.041719
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 94
#   Segment length 101.783449 meters
#   Minimum depth: 160.376718 meters looking forward 200.000000 meters along route
#   Maximum depth: 169.766463 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 110.376718 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 = 115.127621;
finalDepth = 110.376718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.952467
#   Actual altitude:          57.952467
#   Commanded vehicle depth:  110.376718 
#   Seafloor depth:           -164.750118
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 94
#   Segment length 101.783663 meters
#   Minimum depth: 165.127621 meters looking forward 200.000000 meters along route
#   Maximum depth: 178.738748 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 115.127621 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 = 121.353549;
finalDepth = 115.127621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.128645
#   Actual altitude:          56.128645
#   Commanded vehicle depth:  115.127621 
#   Seafloor depth:           -171.256266
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 94
#   Segment length 105.572200 meters
#   Minimum depth: 171.353549 meters looking forward 200.000000 meters along route
#   Maximum depth: 191.734599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.353549 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 = 132.773722;
finalDepth = 121.353549;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.815114
#   Actual altitude:          57.815114
#   Commanded vehicle depth:  121.353549 
#   Seafloor depth:           -179.168663
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 93
#   Segment length 126.883325 meters
#   Minimum depth: 182.773722 meters looking forward 200.000000 meters along route
#   Maximum depth: 208.569767 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 132.773722 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 = 146.017001;
finalDepth = 132.773722;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.552999
#   Actual altitude:          59.552999
#   Commanded vehicle depth:  132.773722 
#   Seafloor depth:           -192.326721
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.87;
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 93
#   Segment length 101.465795 meters
#   Minimum depth: 196.017001 meters looking forward 200.000000 meters along route
#   Maximum depth: 224.829172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 146.017001 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 = 202;
initialDepth = 156.397645;
finalDepth = 146.017001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       63.388477
#   Actual altitude:          63.388477
#   Commanded vehicle depth:  146.017001 
#   Seafloor depth:           -209.405478
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 92
#   Segment length 75.525170 meters
#   Minimum depth: 206.397645 meters looking forward 200.000000 meters along route
#   Maximum depth: 233.445490 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 156.397645 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 = 173.055606;
finalDepth = 156.397645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.339747
#   Actual altitude:          69.339747
#   Commanded vehicle depth:  156.397645 
#   Seafloor depth:           -225.737392
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.80;
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 92
#   Segment length 102.525948 meters
#   Minimum depth: 223.055606 meters looking forward 200.000000 meters along route
#   Maximum depth: 251.171011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 173.055606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.798885;
longitude = -122.097712;
duration = 205;
initialDepth = 182.306019;
finalDepth = 173.055606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       69.339747
#   Actual altitude:          69.339747
#   Commanded vehicle depth:  173.055606 
#   Seafloor depth:           -234.056310
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.80;
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 to get to end of line 91
#   Segment length 77.300817 meters
#   Minimum depth: 232.306019 meters looking forward 200.000000 meters along route
#   Maximum depth: 256.823125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 182.306019 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 = 154;
# abortOnTimeout    = True; 
initialDepth = 198.424051;
finalDepth = 182.306019;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.542702
#   Actual altitude:          69.542702
#   Commanded vehicle depth:  182.306019 
#   Seafloor depth:           -251.848721
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 during line 91
#   Segment length 104.420280 meters
#   Minimum depth: 248.424051 meters looking forward 200.000000 meters along route
#   Maximum depth: 263.675073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 198.424051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797804;
longitude = -122.099168;
duration = 208;
initialDepth = 208.887744;
finalDepth = 198.424051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.542702
#   Actual altitude:          69.542702
#   Commanded vehicle depth:  198.424051 
#   Seafloor depth:           -257.457621
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 during line 91
#   Segment length 100.553297 meters
#   Minimum depth: 258.887744 meters looking forward 200.000000 meters along route
#   Maximum depth: 264.772951 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.887744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797326;
longitude = -122.100177;
duration = 201;
initialDepth = 214.267899;
finalDepth = 208.887744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.03357
#   Actual altitude:          59.03357
#   Commanded vehicle depth:  208.887744 
#   Seafloor depth:           -263.755839
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 90
#   Segment length 150.423419 meters
#   Minimum depth: 264.267899 meters looking forward 200.000000 meters along route
#   Maximum depth: 270.532120 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 214.267899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796866;
longitude = -122.101148;
duration = 300;
# abortOnTimeout    = True; 
initialDepth = 217.133085;
finalDepth = 214.267899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.868095
#   Actual altitude:          54.868095
#   Commanded vehicle depth:  214.267899 
#   Seafloor depth:           -265.616028
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.46;
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 90
#   Segment length 101.536329 meters
#   Minimum depth: 267.133085 meters looking forward 200.000000 meters along route
#   Maximum depth: 278.754921 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 217.133085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796237;
longitude = -122.102641;
duration = 203;
initialDepth = 222.743510;
finalDepth = 217.133085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.80143
#   Actual altitude:          55.80143
#   Commanded vehicle depth:  217.133085 
#   Seafloor depth:           -272.934515
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 101.536750 meters
#   Minimum depth: 272.743510 meters looking forward 200.000000 meters along route
#   Maximum depth: 285.984238 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 222.743510 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795813;
longitude = -122.103650;
duration = 203;
initialDepth = 229.122351;
finalDepth = 222.743510;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.80143
#   Actual altitude:          55.80143
#   Commanded vehicle depth:  222.74351 
#   Seafloor depth:           -278.230035
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 101.537169 meters
#   Minimum depth: 279.122351 meters looking forward 200.000000 meters along route
#   Maximum depth: 291.346738 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 229.122351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795388;
longitude = -122.104658;
duration = 203;
initialDepth = 236.263039;
finalDepth = 229.122351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.015232
#   Actual altitude:          57.015232
#   Commanded vehicle depth:  229.122351 
#   Seafloor depth:           -286.137583
# 
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 = 17.10;
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 90
#   Segment length 101.537590 meters
#   Minimum depth: 286.263039 meters looking forward 200.000000 meters along route
#   Maximum depth: 298.981347 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 236.263039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794964;
longitude = -122.105666;
duration = 203;
initialDepth = 241.813625;
finalDepth = 236.263039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.015232
#   Actual altitude:          57.015232
#   Commanded vehicle depth:  236.263039 
#   Seafloor depth:           -291.198010
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.10;
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 90
#   Segment length 101.538010 meters
#   Minimum depth: 291.813625 meters looking forward 200.000000 meters along route
#   Maximum depth: 308.743480 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 241.813625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794540;
longitude = -122.106675;
duration = 203;
initialDepth = 250.607483;
finalDepth = 241.813625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.597124
#   Actual altitude:          58.597124
#   Commanded vehicle depth:  241.813625 
#   Seafloor depth:           -300.410749
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 103.711274 meters
#   Minimum depth: 300.607483 meters looking forward 200.000000 meters along route
#   Maximum depth: 316.424062 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 250.607483 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794115;
longitude = -122.107683;
duration = 207;
initialDepth = 259.583264;
finalDepth = 250.607483;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.327852
#   Actual altitude:          59.327852
#   Commanded vehicle depth:  250.607483 
#   Seafloor depth:           -309.935335
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 107.806704 meters
#   Minimum depth: 309.583264 meters looking forward 200.000000 meters along route
#   Maximum depth: 323.568601 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 259.583264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793682;
longitude = -122.108713;
duration = 215;
initialDepth = 265.826176;
finalDepth = 259.583264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.327852
#   Actual altitude:          59.327852
#   Commanded vehicle depth:  259.583264 
#   Seafloor depth:           -316.635706
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 90
#   Segment length 100.620018 meters
#   Minimum depth: 315.826176 meters looking forward 200.000000 meters along route
#   Maximum depth: 333.146399 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 265.826176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793231;
longitude = -122.109783;
duration = 201;
initialDepth = 279.504751;
finalDepth = 265.826176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.432664
#   Actual altitude:          58.432664
#   Commanded vehicle depth:  265.826176 
#   Seafloor depth:           -324.258840
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 89
#   Segment length 137.042790 meters
#   Minimum depth: 329.504751 meters looking forward 200.000000 meters along route
#   Maximum depth: 352.919316 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 279.504751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792810;
longitude = -122.110782;
duration = 274;
# abortOnTimeout    = True; 
initialDepth = 289.328027;
finalDepth = 279.504751;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.432664
#   Actual altitude:          58.432664
#   Commanded vehicle depth:  279.504751 
#   Seafloor depth:           -334.861064
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.53;
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 89
#   Segment length 100.004432 meters
#   Minimum depth: 339.328027 meters looking forward 200.000000 meters along route
#   Maximum depth: 369.691335 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 289.328027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791699;
longitude = -122.110112;
duration = 200;
initialDepth = 307.580212;
finalDepth = 289.328027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.530066
#   Actual altitude:          65.530066
#   Commanded vehicle depth:  289.328027 
#   Seafloor depth:           -354.858093
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 89
#   Segment length 100.004631 meters
#   Minimum depth: 357.580212 meters looking forward 200.000000 meters along route
#   Maximum depth: 384.991876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 307.580212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790888;
longitude = -122.109623;
duration = 200;
initialDepth = 323.117758;
finalDepth = 307.580212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.530066
#   Actual altitude:          65.530066
#   Commanded vehicle depth:  307.580212 
#   Seafloor depth:           -371.003220
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 89
#   Segment length 100.004830 meters
#   Minimum depth: 373.117758 meters looking forward 200.000000 meters along route
#   Maximum depth: 399.482379 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 323.117758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790077;
longitude = -122.109134;
duration = 200;
initialDepth = 336.704593;
finalDepth = 323.117758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.423008
#   Actual altitude:          63.423008
#   Commanded vehicle depth:  323.117758 
#   Seafloor depth:           -385.170921
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.03;
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 89
#   Segment length 100.005027 meters
#   Minimum depth: 386.704593 meters looking forward 200.000000 meters along route
#   Maximum depth: 414.751227 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 336.704593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789266;
longitude = -122.108645;
duration = 200;
initialDepth = 352.054012;
finalDepth = 336.704593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.438962
#   Actual altitude:          63.438962
#   Commanded vehicle depth:  336.704593 
#   Seafloor depth:           -400.143555
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.03;
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 89
#   Segment length 100.005226 meters
#   Minimum depth: 402.054012 meters looking forward 200.000000 meters along route
#   Maximum depth: 435.574667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 352.054012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788454;
longitude = -122.108156;
duration = 200;
initialDepth = 367.015795;
finalDepth = 352.054012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.697025
#   Actual altitude:          63.697025
#   Commanded vehicle depth:  352.054012 
#   Seafloor depth:           -415.751037
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 89
#   Segment length 103.709333 meters
#   Minimum depth: 417.015795 meters looking forward 200.000000 meters along route
#   Maximum depth: 454.646775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 367.015795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787643;
longitude = -122.107667;
duration = 207;
initialDepth = 386.001984;
finalDepth = 367.015795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       69.59921
#   Actual altitude:          69.59921
#   Commanded vehicle depth:  367.015795 
#   Seafloor depth:           -436.615005
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.88;
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 88
#   Segment length 128.248999 meters
#   Minimum depth: 436.001984 meters looking forward 200.000000 meters along route
#   Maximum depth: 455.948446 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 386.001984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786802;
longitude = -122.107160;
duration = 256;
# abortOnTimeout    = True; 
initialDepth = 386.001984;
finalDepth = 386.001984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.946462
#   Actual altitude:          69.946462
#   Commanded vehicle depth:  386.001984 
#   Seafloor depth:           -455.948446
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 88
#   Segment length 101.844314 meters
#   Minimum depth: 436.001984 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.159160 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 386.001984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787344;
longitude = -122.105890;
duration = 203;
initialDepth = 386.387202;
finalDepth = 386.001984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.946462
#   Actual altitude:          69.946462
#   Commanded vehicle depth:  386.001984 
#   Seafloor depth:           -436.676668
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 88
#   Segment length 101.843890 meters
#   Minimum depth: 436.387202 meters looking forward 200.000000 meters along route
#   Maximum depth: 454.570864 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 386.387202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787774;
longitude = -122.104882;
duration = 203;
initialDepth = 393.400894;
finalDepth = 386.387202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.724538
#   Actual altitude:          64.724538
#   Commanded vehicle depth:  386.387202 
#   Seafloor depth:           -451.111740
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 101.879485 meters
#   Minimum depth: 443.400894 meters looking forward 200.000000 meters along route
#   Maximum depth: 454.570864 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 393.400894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788204;
longitude = -122.103874;
duration = 203;
initialDepth = 391.831946;
finalDepth = 393.400894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.724538
#   Actual altitude:          64.724538
#   Commanded vehicle depth:  393.400894 
#   Seafloor depth:           -448.242684
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 101.807019 meters
#   Minimum depth: 441.831946 meters looking forward 200.000000 meters along route
#   Maximum depth: 455.132981 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 391.831946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788635;
longitude = -122.102865;
duration = 203;
initialDepth = 391.831946;
finalDepth = 391.831946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.84179
#   Actual altitude:          54.84179
#   Commanded vehicle depth:  391.831946 
#   Seafloor depth:           -443.407746
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 88
#   Segment length 101.842615 meters
#   Minimum depth: 441.831946 meters looking forward 200.000000 meters along route
#   Maximum depth: 458.909455 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 391.831946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789065;
longitude = -122.101857;
duration = 203;
initialDepth = 393.912281;
finalDepth = 391.831946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.077509
#   Actual altitude:          67.077509
#   Commanded vehicle depth:  391.831946 
#   Seafloor depth:           -458.909455
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.12;
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 109.378144 meters
#   Minimum depth: 443.912281 meters looking forward 200.000000 meters along route
#   Maximum depth: 456.828546 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 393.912281 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789495;
longitude = -122.100849;
duration = 218;
initialDepth = 400.301973;
finalDepth = 393.912281;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.077509
#   Actual altitude:          67.077509
#   Commanded vehicle depth:  393.912281 
#   Seafloor depth:           -448.156906
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.12;
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 87
#   Segment length 163.378494 meters
#   Minimum depth: 450.301973 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.051514 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 400.301973 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 = 408.162294;
finalDepth = 400.301973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       55.814268
#   Actual altitude:          55.814268
#   Commanded vehicle depth:  400.301973 
#   Seafloor depth:           -456.116241
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 86
#   Segment length 97.750871 meters
#   Minimum depth: 458.162294 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.051514 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 408.162294 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 = 367.182242;
finalDepth = 408.162294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       114.307768
#   Actual altitude:          100
#   Commanded vehicle depth:  408.162294 
#   Seafloor depth:           -522.470062
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 86
#   Segment length 100.738308 meters
#   Minimum depth: 417.182242 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.820388 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 367.182242 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791250;
longitude = -122.098160;
duration = 201;
initialDepth = 331.850216;
finalDepth = 367.182242;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       114.307768
#   Actual altitude:          100
#   Commanded vehicle depth:  367.182242 
#   Seafloor depth:           -463.132882
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 86
#   Segment length 100.921519 meters
#   Minimum depth: 381.850216 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.161155 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 331.850216 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 = 314.431143;
finalDepth = 331.850216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.95064
#   Actual altitude:          95.95064
#   Commanded vehicle depth:  331.850216 
#   Seafloor depth:           -415.310507
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 28.79;
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 86
#   Segment length 100.921509 meters
#   Minimum depth: 364.431143 meters looking forward 200.000000 meters along route
#   Maximum depth: 414.169787 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 314.431143 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 = 288.042529;
finalDepth = 314.431143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.460291
#   Actual altitude:          83.460291
#   Commanded vehicle depth:  314.431143 
#   Seafloor depth:           -378.898869
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.04;
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 86
#   Segment length 100.921499 meters
#   Minimum depth: 338.042529 meters looking forward 200.000000 meters along route
#   Maximum depth: 378.244403 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 288.042529 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 = 260.358794;
finalDepth = 288.042529;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.710794
#   Actual altitude:          70.710794
#   Commanded vehicle depth:  288.042529 
#   Seafloor depth:           -358.753323
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 86
#   Segment length 100.921489 meters
#   Minimum depth: 310.358794 meters looking forward 200.000000 meters along route
#   Maximum depth: 358.759974 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 260.358794 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 = 236.946839;
finalDepth = 260.358794;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.576397
#   Actual altitude:          74.576397
#   Commanded vehicle depth:  260.358794 
#   Seafloor depth:           -334.935191
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 86
#   Segment length 107.669860 meters
#   Minimum depth: 286.946839 meters looking forward 200.000000 meters along route
#   Maximum depth: 332.149242 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 236.946839 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795754;
longitude = -122.098930;
duration = 215;
initialDepth = 225.479845;
finalDepth = 236.946839;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       74.576397
#   Actual altitude:          74.576397
#   Commanded vehicle depth:  236.946839 
#   Seafloor depth:           -309.573818
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 85
#   Segment length 156.512089 meters
#   Minimum depth: 275.479845 meters looking forward 200.000000 meters along route
#   Maximum depth: 293.499056 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 225.479845 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 = 313;
# abortOnTimeout    = True; 
initialDepth = 206.880788;
finalDepth = 225.479845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       72.626979
#   Actual altitude:          72.626979
#   Commanded vehicle depth:  225.479845 
#   Seafloor depth:           -285.722046
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 84
#   Segment length 104.595830 meters
#   Minimum depth: 256.880788 meters looking forward 200.000000 meters along route
#   Maximum depth: 282.773186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 206.880788 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 = 191.932284;
finalDepth = 206.880788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.26575
#   Actual altitude:          68.26575
#   Commanded vehicle depth:  206.880788 
#   Seafloor depth:           -275.146538
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.48;
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 84
#   Segment length 104.671869 meters
#   Minimum depth: 241.932284 meters looking forward 200.000000 meters along route
#   Maximum depth: 271.186421 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.932284 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 = 173.884701;
finalDepth = 191.932284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       68.26575
#   Actual altitude:          68.26575
#   Commanded vehicle depth:  191.932284 
#   Seafloor depth:           -256.880686
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.48;
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 83
#   Segment length 107.301986 meters
#   Minimum depth: 223.884701 meters looking forward 200.000000 meters along route
#   Maximum depth: 254.786522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 173.884701 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 = 159.315428;
finalDepth = 173.884701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.067913
#   Actual altitude:          67.067913
#   Commanded vehicle depth:  173.884701 
#   Seafloor depth:           -240.952614
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.12;
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 83
#   Segment length 107.265845 meters
#   Minimum depth: 209.315428 meters looking forward 200.000000 meters along route
#   Maximum depth: 238.665730 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 159.315428 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 = 149.018671;
finalDepth = 159.315428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.067913
#   Actual altitude:          67.067913
#   Commanded vehicle depth:  159.315428 
#   Seafloor depth:           -223.880617
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.12;
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 82
#   Segment length 148.321384 meters
#   Minimum depth: 199.018671 meters looking forward 200.000000 meters along route
#   Maximum depth: 213.733741 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 149.018671 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 = 142.127336;
finalDepth = 149.018671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.565189
#   Actual altitude:          64.565189
#   Commanded vehicle depth:  149.018671 
#   Seafloor depth:           -209.030781
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 82
#   Segment length 101.078571 meters
#   Minimum depth: 192.127336 meters looking forward 200.000000 meters along route
#   Maximum depth: 204.159798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 142.127336 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 = 132.584163;
finalDepth = 142.127336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.01211
#   Actual altitude:          60.01211
#   Commanded vehicle depth:  142.127336 
#   Seafloor depth:           -198.786746
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 101.078336 meters
#   Minimum depth: 182.584163 meters looking forward 200.000000 meters along route
#   Maximum depth: 198.657500 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 132.584163 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 = 125.561893;
finalDepth = 132.584163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.142507
#   Actual altitude:          59.142507
#   Commanded vehicle depth:  132.584163 
#   Seafloor depth:           -191.726670
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 82
#   Segment length 101.967219 meters
#   Minimum depth: 175.561893 meters looking forward 200.000000 meters along route
#   Maximum depth: 191.164437 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 125.561893 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 = 203;
initialDepth = 121.859942;
finalDepth = 125.561893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.142507
#   Actual altitude:          59.142507
#   Commanded vehicle depth:  125.561893 
#   Seafloor depth:           -182.508879
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 82
#   Segment length 103.520480 meters
#   Minimum depth: 171.859942 meters looking forward 200.000000 meters along route
#   Maximum depth: 181.997718 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.859942 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.804136;
longitude = -122.092554;
duration = 207;
initialDepth = 121.859942;
finalDepth = 121.859942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.946986
#   Actual altitude:          56.946986
#   Commanded vehicle depth:  121.859942 
#   Seafloor depth:           -175.462761
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 82
#   Segment length 111.143388 meters
#   Minimum depth: 171.859942 meters looking forward 200.000000 meters along route
#   Maximum depth: 176.398821 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 121.859942 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 = 124.325724;
finalDepth = 121.859942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       53.602819
#   Actual altitude:          53.602819
#   Commanded vehicle depth:  121.859942 
#   Seafloor depth:           -172.255181
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 81
#   Segment length 147.951333 meters
#   Minimum depth: 174.325724 meters looking forward 200.000000 meters along route
#   Maximum depth: 228.853690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 124.325724 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 = 139.592287;
finalDepth = 124.325724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.395239
#   Actual altitude:          50.395239
#   Commanded vehicle depth:  124.325724 
#   Seafloor depth:           -174.410667
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
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 81
#   Segment length 106.462073 meters
#   Minimum depth: 189.592287 meters looking forward 200.000000 meters along route
#   Maximum depth: 228.853690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 139.592287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806150;
longitude = -122.089758;
duration = 212;
initialDepth = 105.003285;
finalDepth = 139.592287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.622416
#   Actual altitude:          88.622416
#   Commanded vehicle depth:  139.592287 
#   Seafloor depth:           -228.214703
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.59;
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 81
#   Segment length 106.845680 meters
#   Minimum depth: 155.003285 meters looking forward 200.000000 meters along route
#   Maximum depth: 227.551562 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 105.003285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.806389;
longitude = -122.088602;
duration = 213;
initialDepth = 90.017394;
finalDepth = 105.003285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       88.622416
#   Actual altitude:          88.622416
#   Commanded vehicle depth:  105.003285 
#   Seafloor depth:           -188.542150
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 26.59;
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 80
#   Segment length 148.634443 meters
#   Minimum depth: 140.017394 meters looking forward 200.000000 meters along route
#   Maximum depth: 166.033230 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.017394 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 = 87.925991;
finalDepth = 90.017394;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       83.538865
#   Actual altitude:          83.538865
#   Commanded vehicle depth:  90.017394 
#   Seafloor depth:           -155.570526
# 
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 = 25.06;
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 79
#   Segment length 117.259629 meters
#   Minimum depth: 137.925991 meters looking forward 200.000000 meters along route
#   Maximum depth: 143.204052 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 87.925991 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 = 87.925991;
finalDepth = 87.925991;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.553132
#   Actual altitude:          65.553132
#   Commanded vehicle depth:  87.925991 
#   Seafloor depth:           -139.649689
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 79
#   Segment length 100.542510 meters
#   Minimum depth: 137.925991 meters looking forward 200.000000 meters along route
#   Maximum depth: 144.683985 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 87.925991 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.808372;
longitude = -122.085414;
duration = 201;
initialDepth = 90.216997;
finalDepth = 87.925991;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.296289
#   Actual altitude:          55.296289
#   Commanded vehicle depth:  87.925991 
#   Seafloor depth:           -143.222280
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 79
#   Segment length 101.072822 meters
#   Minimum depth: 140.216997 meters looking forward 200.000000 meters along route
#   Maximum depth: 160.512699 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 90.216997 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 = 81.680985;
finalDepth = 90.216997;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.296289
#   Actual altitude:          55.296289
#   Commanded vehicle depth:  90.216997 
#   Seafloor depth:           -142.041266
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 79
#   Segment length 100.011221 meters
#   Minimum depth: 131.680985 meters looking forward 200.000000 meters along route
#   Maximum depth: 161.249224 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 81.680985 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 = 65.274426;
finalDepth = 81.680985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.872668
#   Actual altitude:          78.872668
#   Commanded vehicle depth:  81.680985 
#   Seafloor depth:           -160.553653
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 79
#   Segment length 108.930787 meters
#   Minimum depth: 115.274426 meters looking forward 200.000000 meters along route
#   Maximum depth: 161.249224 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.274426 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 = 65.274426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       78.872668
#   Actual altitude:          78.872668
#   Commanded vehicle depth:  65.274426 
#   Seafloor depth:           -131.455099
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 78
#   Segment length 141.165465 meters
#   Minimum depth: 111.805509 meters looking forward 200.000000 meters along route
#   Maximum depth: 118.629616 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 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:       66.180673
#   Actual altitude:          66.180673
#   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 78
#   Segment length 100.821114 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: 438.162294 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 78
#   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: 438.162294 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 78
#   Segment length 100.628284 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: 438.162294 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 78
#   Segment length 107.115497 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: 438.162294 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 78
#   Segment length 107.116028 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: 438.162294 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 78
#   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: 438.162294 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 78
#   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: 438.162294 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 78
#   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: 438.162294 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 77
#   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: 438.162294 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 77
#   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: 438.162294 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 77
#   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: 438.162294 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 77
#   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: 438.162294 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 77
#   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: 438.162294 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 77
#   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: 438.162294 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 76
#   Segment length 131.822100 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: 438.162294 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 76
#   Segment length 101.679793 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: 438.162294 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 76
#   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: 438.162294 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 76
#   Segment length 101.680257 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: 438.162294 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 76
#   Segment length 106.991852 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: 438.162294 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 76
#   Segment length 100.110795 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: 438.162294 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 75
#   Segment length 128.717933 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: 438.162294 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 75
#   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: 438.162294 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 75
#   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: 438.162294 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 75
#   Segment length 108.407486 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: 438.162294 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 74
#   Segment length 151.753452 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: 438.162294 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 74
#   Segment length 102.437927 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: 438.162294 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 74
#   Segment length 102.438172 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: 438.162294 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 74
#   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: 438.162294 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 74
#   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: 438.162294 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 74
#   Segment length 102.438912 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: 438.162294 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 74
#   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: 438.162294 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 73
#   Segment length 92.121661 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: 438.162294 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 73
#   Segment length 110.571598 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: 438.162294 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 73
#   Segment length 101.416570 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: 438.162294 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 72
#   Segment length 125.898694 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: 438.162294 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 72
#   Segment length 105.504506 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: 438.162294 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 71
#   Segment length 114.745791 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: 438.162294 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 71
#   Segment length 104.775191 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: 438.162294 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 71
#   Segment length 107.505910 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: 438.162294 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 71
#   Segment length 111.948486 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: 438.162294 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 70
#   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: 438.162294 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 70
#   Segment length 102.878789 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: 438.162294 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 70
#   Segment length 102.878532 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: 438.162294 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 70
#   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: 438.162294 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 70
#   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: 438.162294 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 70
#   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: 438.162294 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 70
#   Segment length 102.877510 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: 438.162294 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 70
#   Segment length 109.650541 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: 438.162294 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 69
#   Segment length 140.740084 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: 438.162294 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 69
#   Segment length 102.693057 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: 438.162294 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 69
#   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: 438.162294 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 69
#   Segment length 110.291825 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: 438.162294 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 68
#   Segment length 141.425601 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: 438.162294 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 68
#   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: 438.162294 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 68
#   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: 438.162294 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 68
#   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: 438.162294 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 68
#   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: 438.162294 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 67
#   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: 438.162294 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 67
#   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: 438.162294 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 67
#   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: 438.162294 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 67
#   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: 438.162294 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 67
#   Segment length 105.586028 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: 438.162294 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 67
#   Segment length 108.980867 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: 438.162294 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 66
#   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: 438.162294 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 66
#   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: 438.162294 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 66
#   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: 438.162294 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 66
#   Segment length 103.401437 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: 438.162294 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 66
#   Segment length 108.924047 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: 438.162294 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 66
#   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: 438.162294 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 66
#   Segment length 102.251993 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: 438.162294 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 65
#   Segment length 160.977636 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: 438.162294 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 65
#   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: 438.162294 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 65
#   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: 438.162294 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 65
#   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: 438.162294 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 = 143.286728;
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 64
#   Segment length 164.970951 meters
#   Minimum depth: 193.286728 meters looking forward 200.000000 meters along route
#   Maximum depth: 211.131464 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 143.286728 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 = 143.286728;
finalDepth = 143.286728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.937977
#   Actual altitude:          59.937977
#   Commanded vehicle depth:  143.286728 
#   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 63
#   Segment length 149.734279 meters
#   Minimum depth: 193.286728 meters looking forward 200.000000 meters along route
#   Maximum depth: 270.489832 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 143.286728 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 = 178.517702;
finalDepth = 143.286728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.644611
#   Actual altitude:          54.644611
#   Commanded vehicle depth:  143.286728 
#   Seafloor depth:           -197.931339
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 102.075184 meters
#   Minimum depth: 228.517702 meters looking forward 200.000000 meters along route
#   Maximum depth: 297.901236 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 178.517702 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 = 186.157080;
finalDepth = 178.517702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       97.406237
#   Actual altitude:          97.406237
#   Commanded vehicle depth:  178.517702 
#   Seafloor depth:           -275.923939
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 63
#   Segment length 108.906479 meters
#   Minimum depth: 236.157080 meters looking forward 200.000000 meters along route
#   Maximum depth: 297.901236 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 186.157080 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 = 178.897679;
finalDepth = 186.157080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       108.402458
#   Actual altitude:          100
#   Commanded vehicle depth:  186.15708 
#   Seafloor depth:           -294.559538
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 62
#   Segment length 148.310845 meters
#   Minimum depth: 228.897679 meters looking forward 200.000000 meters along route
#   Maximum depth: 259.697139 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 178.897679 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 = 175.516665;
finalDepth = 178.897679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       108.402458
#   Actual altitude:          100
#   Commanded vehicle depth:  178.897679 
#   Seafloor depth:           -234.427242
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 101.156512 meters
#   Minimum depth: 225.516665 meters looking forward 200.000000 meters along route
#   Maximum depth: 242.190901 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.516665 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 = 175.516665;
finalDepth = 175.516665;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.970606
#   Actual altitude:          58.970606
#   Commanded vehicle depth:  175.516665 
#   Seafloor depth:           -234.487271
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 62
#   Segment length 101.156747 meters
#   Minimum depth: 225.516665 meters looking forward 200.000000 meters along route
#   Maximum depth: 242.190901 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 175.516665 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 = 166.345118;
finalDepth = 175.516665;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.970606
#   Actual altitude:          58.970606
#   Commanded vehicle depth:  175.516665 
#   Seafloor depth:           -228.218582
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 62
#   Segment length 101.631004 meters
#   Minimum depth: 216.345118 meters looking forward 200.000000 meters along route
#   Maximum depth: 235.115955 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 166.345118 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.801688;
longitude = -122.092671;
duration = 203;
initialDepth = 165.908552;
finalDepth = 166.345118;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.11408
#   Actual altitude:          59.11408
#   Commanded vehicle depth:  166.345118 
#   Seafloor depth:           -225.459198
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 62
#   Segment length 107.381448 meters
#   Minimum depth: 215.908552 meters looking forward 200.000000 meters along route
#   Maximum depth: 224.280564 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 165.908552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800892;
longitude = -122.093233;
duration = 214;
initialDepth = 167.488352;
finalDepth = 165.908552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.11408
#   Actual altitude:          59.11408
#   Commanded vehicle depth:  165.908552 
#   Seafloor depth:           -216.308792
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 61
#   Segment length 131.724470 meters
#   Minimum depth: 217.488352 meters looking forward 200.000000 meters along route
#   Maximum depth: 240.852090 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 167.488352 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 = 179.391260;
finalDepth = 167.488352;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.284559
#   Actual altitude:          57.284559
#   Commanded vehicle depth:  167.488352 
#   Seafloor depth:           -224.772911
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 61
#   Segment length 100.780401 meters
#   Minimum depth: 229.391260 meters looking forward 200.000000 meters along route
#   Maximum depth: 255.282843 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 179.391260 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 = 202.900994;
finalDepth = 179.391260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       61.839194
#   Actual altitude:          61.839194
#   Commanded vehicle depth:  179.39126 
#   Seafloor depth:           -241.230454
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 60
#   Segment length 183.819685 meters
#   Minimum depth: 252.900994 meters looking forward 200.000000 meters along route
#   Maximum depth: 284.233066 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 202.900994 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 = 219.302848;
finalDepth = 202.900994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.839194
#   Actual altitude:          61.839194
#   Commanded vehicle depth:  202.900994 
#   Seafloor depth:           -256.361588
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 105.007856 meters
#   Minimum depth: 269.302848 meters looking forward 200.000000 meters along route
#   Maximum depth: 305.006519 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 219.302848 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 = 238.907315;
finalDepth = 219.302848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.389268
#   Actual altitude:          65.389268
#   Commanded vehicle depth:  219.302848 
#   Seafloor depth:           -284.692116
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 59
#   Segment length 135.906927 meters
#   Minimum depth: 288.907315 meters looking forward 200.000000 meters along route
#   Maximum depth: 315.883419 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 238.907315 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 = 248.966699;
finalDepth = 238.907315;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.86967
#   Actual altitude:          68.86967
#   Commanded vehicle depth:  238.907315 
#   Seafloor depth:           -307.776985
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.66;
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 59
#   Segment length 101.897819 meters
#   Minimum depth: 298.966699 meters looking forward 200.000000 meters along route
#   Maximum depth: 315.883419 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 248.966699 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 = 238.692935;
finalDepth = 248.966699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.86967
#   Actual altitude:          68.86967
#   Commanded vehicle depth:  248.966699 
#   Seafloor depth:           -314.525109
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.66;
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 59
#   Segment length 105.275955 meters
#   Minimum depth: 288.692935 meters looking forward 200.000000 meters along route
#   Maximum depth: 313.065687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 238.692935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795728;
longitude = -122.099617;
duration = 210;
initialDepth = 238.692935;
finalDepth = 238.692935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.55841
#   Actual altitude:          65.55841
#   Commanded vehicle depth:  238.692935 
#   Seafloor depth:           -296.564038
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 163.369272 meters
#   Minimum depth: 288.692935 meters looking forward 200.000000 meters along route
#   Maximum depth: 296.279110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 238.692935 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 = 326;
# abortOnTimeout    = True; 
initialDepth = 240.745649;
finalDepth = 238.692935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.871103
#   Actual altitude:          57.871103
#   Commanded vehicle depth:  238.692935 
#   Seafloor depth:           -289.198990
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 100.237325 meters
#   Minimum depth: 290.745649 meters looking forward 200.000000 meters along route
#   Maximum depth: 301.730935 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 240.745649 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794894;
longitude = -122.102417;
duration = 200;
initialDepth = 247.725472;
finalDepth = 240.745649;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.99316
#   Actual altitude:          55.99316
#   Commanded vehicle depth:  240.745649 
#   Seafloor depth:           -296.738809
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 100.237725 meters
#   Minimum depth: 297.725472 meters looking forward 200.000000 meters along route
#   Maximum depth: 309.810925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 247.725472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794496;
longitude = -122.103426;
duration = 200;
initialDepth = 253.602768;
finalDepth = 247.725472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.099664
#   Actual altitude:          56.099664
#   Commanded vehicle depth:  247.725472 
#   Seafloor depth:           -303.825136
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 100.238123 meters
#   Minimum depth: 303.602768 meters looking forward 200.000000 meters along route
#   Maximum depth: 315.962571 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 253.602768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794097;
longitude = -122.104434;
duration = 200;
initialDepth = 261.797351;
finalDepth = 253.602768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.292992
#   Actual altitude:          57.292992
#   Commanded vehicle depth:  253.602768 
#   Seafloor depth:           -310.895760
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 100.238523 meters
#   Minimum depth: 311.797351 meters looking forward 200.000000 meters along route
#   Maximum depth: 323.434596 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 261.797351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793699;
longitude = -122.105442;
duration = 200;
initialDepth = 267.045409;
finalDepth = 261.797351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.292992
#   Actual altitude:          57.292992
#   Commanded vehicle depth:  261.797351 
#   Seafloor depth:           -316.749139
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 100.238922 meters
#   Minimum depth: 317.045409 meters looking forward 200.000000 meters along route
#   Maximum depth: 329.431269 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 267.045409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793300;
longitude = -122.106450;
duration = 200;
initialDepth = 273.670811;
finalDepth = 267.045409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.303297
#   Actual altitude:          57.303297
#   Commanded vehicle depth:  267.045409 
#   Seafloor depth:           -324.348706
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 100.239321 meters
#   Minimum depth: 323.670811 meters looking forward 200.000000 meters along route
#   Maximum depth: 334.853339 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 273.670811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792902;
longitude = -122.107459;
duration = 200;
initialDepth = 281.675384;
finalDepth = 273.670811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.303297
#   Actual altitude:          57.303297
#   Commanded vehicle depth:  273.670811 
#   Seafloor depth:           -330.432749
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 100.239720 meters
#   Minimum depth: 331.675384 meters looking forward 200.000000 meters along route
#   Maximum depth: 340.229597 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 281.675384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792503;
longitude = -122.108467;
duration = 200;
initialDepth = 285.293284;
finalDepth = 281.675384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.761938
#   Actual altitude:          56.761938
#   Commanded vehicle depth:  281.675384 
#   Seafloor depth:           -334.447215
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.03;
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 58
#   Segment length 102.115456 meters
#   Minimum depth: 335.293284 meters looking forward 200.000000 meters along route
#   Maximum depth: 356.056781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 285.293284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792105;
longitude = -122.109475;
duration = 204;
initialDepth = 292.330896;
finalDepth = 285.293284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.101969
#   Actual altitude:          56.101969
#   Commanded vehicle depth:  285.293284 
#   Seafloor depth:           -341.395253
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 58
#   Segment length 105.790423 meters
#   Minimum depth: 342.330896 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.828794 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 292.330896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791699;
longitude = -122.110502;
duration = 211;
initialDepth = 312.261309;
finalDepth = 292.330896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.046845
#   Actual altitude:          64.046845
#   Commanded vehicle depth:  292.330896 
#   Seafloor depth:           -356.377741
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.21;
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 to get to end of line 57
#   Segment length 159.722628 meters
#   Minimum depth: 362.261309 meters looking forward 200.000000 meters along route
#   Maximum depth: 388.915409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 312.261309 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791278;
longitude = -122.111567;
duration = 319;
# abortOnTimeout    = True; 
initialDepth = 328.819500;
finalDepth = 312.261309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.046845
#   Actual altitude:          64.046845
#   Commanded vehicle depth:  312.261309 
#   Seafloor depth:           -366.368164
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.21;
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 to get to end of line 56
#   Segment length 126.394671 meters
#   Minimum depth: 378.819500 meters looking forward 200.000000 meters along route
#   Maximum depth: 389.591878 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 328.819500 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789957;
longitude = -122.110857;
duration = 252;
# abortOnTimeout    = True; 
initialDepth = 313.255165;
finalDepth = 328.819500;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.772378
#   Actual altitude:          60.772378
#   Commanded vehicle depth:  328.8195 
#   Seafloor depth:           -389.591878
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 56
#   Segment length 100.371785 meters
#   Minimum depth: 363.255165 meters looking forward 200.000000 meters along route
#   Maximum depth: 387.002468 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 313.255165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790462;
longitude = -122.109587;
duration = 200;
initialDepth = 305.889204;
finalDepth = 313.255165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.712929
#   Actual altitude:          64.712929
#   Commanded vehicle depth:  313.255165 
#   Seafloor depth:           -377.968094
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.41;
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 56
#   Segment length 100.371384 meters
#   Minimum depth: 355.889204 meters looking forward 200.000000 meters along route
#   Maximum depth: 377.553445 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 305.889204 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790863;
longitude = -122.108579;
duration = 200;
initialDepth = 304.899482;
finalDepth = 305.889204;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.712929
#   Actual altitude:          64.712929
#   Commanded vehicle depth:  305.889204 
#   Seafloor depth:           -361.359813
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.41;
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 56
#   Segment length 100.370982 meters
#   Minimum depth: 354.899482 meters looking forward 200.000000 meters along route
#   Maximum depth: 361.344168 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 304.899482 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791264;
longitude = -122.107571;
duration = 200;
initialDepth = 297.773315;
finalDepth = 304.899482;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.470609
#   Actual altitude:          55.470609
#   Commanded vehicle depth:  304.899482 
#   Seafloor depth:           -355.555037
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 56
#   Segment length 100.370581 meters
#   Minimum depth: 347.773315 meters looking forward 200.000000 meters along route
#   Maximum depth: 356.364696 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 297.773315 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791665;
longitude = -122.106562;
duration = 200;
initialDepth = 292.712753;
finalDepth = 297.773315;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.138993
#   Actual altitude:          58.138993
#   Commanded vehicle depth:  297.773315 
#   Seafloor depth:           -355.912308
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 56
#   Segment length 100.370179 meters
#   Minimum depth: 342.712753 meters looking forward 200.000000 meters along route
#   Maximum depth: 353.946223 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 292.712753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792066;
longitude = -122.105554;
duration = 200;
initialDepth = 285.005057;
finalDepth = 292.712753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.138993
#   Actual altitude:          58.138993
#   Commanded vehicle depth:  292.712753 
#   Seafloor depth:           -347.576508
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 56
#   Segment length 100.369778 meters
#   Minimum depth: 335.005057 meters looking forward 200.000000 meters along route
#   Maximum depth: 348.052631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 285.005057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792468;
longitude = -122.104546;
duration = 200;
initialDepth = 277.619842;
finalDepth = 285.005057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.527678
#   Actual altitude:          57.527678
#   Commanded vehicle depth:  285.005057 
#   Seafloor depth:           -342.532735
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 56
#   Segment length 100.369377 meters
#   Minimum depth: 327.619842 meters looking forward 200.000000 meters along route
#   Maximum depth: 344.054184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 277.619842 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792869;
longitude = -122.103538;
duration = 200;
initialDepth = 271.875995;
finalDepth = 277.619842;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.527678
#   Actual altitude:          57.527678
#   Commanded vehicle depth:  277.619842 
#   Seafloor depth:           -333.419088
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 56
#   Segment length 103.014355 meters
#   Minimum depth: 321.875995 meters looking forward 200.000000 meters along route
#   Maximum depth: 332.253189 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 271.875995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793270;
longitude = -122.102529;
duration = 206;
initialDepth = 268.847778;
finalDepth = 271.875995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.799246
#   Actual altitude:          55.799246
#   Commanded vehicle depth:  271.875995 
#   Seafloor depth:           -327.601381
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 56
#   Segment length 105.168920 meters
#   Minimum depth: 318.847778 meters looking forward 200.000000 meters along route
#   Maximum depth: 326.244981 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.847778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793682;
longitude = -122.101495;
duration = 210;
initialDepth = 268.847778;
finalDepth = 268.847778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       55.725386
#   Actual altitude:          55.725386
#   Commanded vehicle depth:  268.847778 
#   Seafloor depth:           -323.236747
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.72;
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 55
#   Segment length 155.914510 meters
#   Minimum depth: 318.847778 meters looking forward 200.000000 meters along route
#   Maximum depth: 337.685092 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.847778 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 = 274.997626;
finalDepth = 268.847778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.388969
#   Actual altitude:          54.388969
#   Commanded vehicle depth:  268.847778 
#   Seafloor depth:           -319.482697
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 55
#   Segment length 101.689691 meters
#   Minimum depth: 324.997626 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.261477 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 274.997626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794360;
longitude = -122.098720;
duration = 203;
initialDepth = 280.420293;
finalDepth = 274.997626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.331088
#   Actual altitude:          65.331088
#   Commanded vehicle depth:  274.997626 
#   Seafloor depth:           -340.328714
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 55
#   Segment length 105.108249 meters
#   Minimum depth: 330.420293 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.261477 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 280.420293 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 = 263.812723;
finalDepth = 280.420293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       80.059748
#   Actual altitude:          80.059748
#   Commanded vehicle depth:  280.420293 
#   Seafloor depth:           -360.480041
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 54
#   Segment length 87.004243 meters
#   Minimum depth: 313.812723 meters looking forward 200.000000 meters along route
#   Maximum depth: 360.480041 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 263.812723 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 = 258.173552;
finalDepth = 263.812723;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.059748
#   Actual altitude:          80.059748
#   Commanded vehicle depth:  263.812723 
#   Seafloor depth:           -329.657928
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 54
#   Segment length 109.786251 meters
#   Minimum depth: 308.173552 meters looking forward 200.000000 meters along route
#   Maximum depth: 329.657928 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 258.173552 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 = 245.297015;
finalDepth = 258.173552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.845205
#   Actual altitude:          65.845205
#   Commanded vehicle depth:  258.173552 
#   Seafloor depth:           -313.747176
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 53
#   Segment length 158.457032 meters
#   Minimum depth: 295.297015 meters looking forward 200.000000 meters along route
#   Maximum depth: 309.481849 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 245.297015 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 = 229.001771;
finalDepth = 245.297015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.681279
#   Actual altitude:          62.681279
#   Commanded vehicle depth:  245.297015 
#   Seafloor depth:           -307.978294
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.80;
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 53
#   Segment length 100.902447 meters
#   Minimum depth: 279.001771 meters looking forward 200.000000 meters along route
#   Maximum depth: 304.109563 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 229.001771 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 = 206.581112;
finalDepth = 229.001771;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       66.773653
#   Actual altitude:          66.773653
#   Commanded vehicle depth:  229.001771 
#   Seafloor depth:           -295.775424
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 52
#   Segment length 120.200202 meters
#   Minimum depth: 256.581112 meters looking forward 200.000000 meters along route
#   Maximum depth: 290.949154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 206.581112 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 = 191.860293;
finalDepth = 206.581112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.882458
#   Actual altitude:          70.882458
#   Commanded vehicle depth:  206.581112 
#   Seafloor depth:           -277.463570
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.26;
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 52
#   Segment length 109.617334 meters
#   Minimum depth: 241.860293 meters looking forward 200.000000 meters along route
#   Maximum depth: 269.462585 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.860293 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 = 191.860293;
finalDepth = 191.860293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       70.882458
#   Actual altitude:          70.882458
#   Commanded vehicle depth:  191.860293 
#   Seafloor depth:           -255.324846
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.26;
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 51
#   Segment length 124.236255 meters
#   Minimum depth: 241.860293 meters looking forward 200.000000 meters along route
#   Maximum depth: 253.251133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 191.860293 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 = 195.426702;
finalDepth = 191.860293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.464553
#   Actual altitude:          63.464553
#   Commanded vehicle depth:  191.860293 
#   Seafloor depth:           -242.445625
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 51
#   Segment length 104.851466 meters
#   Minimum depth: 245.426702 meters looking forward 200.000000 meters along route
#   Maximum depth: 306.166520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 195.426702 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 = 205.277082;
finalDepth = 195.426702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.363926
#   Actual altitude:          59.363926
#   Commanded vehicle depth:  195.426702 
#   Seafloor depth:           -254.790628
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 51
#   Segment length 104.851196 meters
#   Minimum depth: 255.277082 meters looking forward 200.000000 meters along route
#   Maximum depth: 323.676545 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 205.277082 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 = 260.399491;
finalDepth = 205.277082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       102.407821
#   Actual altitude:          100
#   Commanded vehicle depth:  205.277082 
#   Seafloor depth:           -307.684903
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 51
#   Segment length 100.918246 meters
#   Minimum depth: 310.399491 meters looking forward 200.000000 meters along route
#   Maximum depth: 329.079255 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 260.399491 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 = 264.666767;
finalDepth = 260.399491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       102.407821
#   Actual altitude:          100
#   Commanded vehicle depth:  260.399491 
#   Seafloor depth:           -315.702026
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 50
#   Segment length 78.152653 meters
#   Minimum depth: 314.666767 meters looking forward 200.000000 meters along route
#   Maximum depth: 359.063680 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 264.666767 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 = 268.330300;
finalDepth = 264.666767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.532734
#   Actual altitude:          65.532734
#   Commanded vehicle depth:  264.666767 
#   Seafloor depth:           -330.199501
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 50
#   Segment length 103.383594 meters
#   Minimum depth: 318.330300 meters looking forward 200.000000 meters along route
#   Maximum depth: 359.063680 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 268.330300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803145;
longitude = -122.088959;
duration = 206;
initialDepth = 200.295122;
finalDepth = 268.330300;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       90.626822
#   Actual altitude:          90.626822
#   Commanded vehicle depth:  268.3303 
#   Seafloor depth:           -358.957122
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.19;
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 50
#   Segment length 108.190408 meters
#   Minimum depth: 250.295122 meters looking forward 200.000000 meters along route
#   Maximum depth: 357.657104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 200.295122 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.803423;
longitude = -122.087853;
duration = 216;
initialDepth = 168.924409;
finalDepth = 200.295122;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       116.19976
#   Actual altitude:          100
#   Commanded vehicle depth:  200.295122 
#   Seafloor depth:           -316.494882
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 49
#   Segment length 172.062597 meters
#   Minimum depth: 218.924409 meters looking forward 200.000000 meters along route
#   Maximum depth: 260.435071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.924409 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 = 168.924409;
finalDepth = 168.924409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       116.19976
#   Actual altitude:          100
#   Commanded vehicle depth:  168.924409 
#   Seafloor depth:           -249.081013
# 
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 48
#   Segment length 134.639540 meters
#   Minimum depth: 218.924409 meters looking forward 200.000000 meters along route
#   Maximum depth: 284.931315 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 168.924409 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 = 168.924409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.156604
#   Actual altitude:          80.156604
#   Commanded vehicle depth:  168.924409 
#   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 = 24.05;
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 48
#   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: 438.162294 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 48
#   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: 438.162294 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 48
#   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: 438.162294 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 47
#   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: 438.162294 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 47
#   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: 438.162294 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 47
#   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: 438.162294 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 47
#   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: 438.162294 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 47
#   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: 438.162294 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 47
#   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: 438.162294 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 47
#   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: 438.162294 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 46
#   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: 438.162294 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 46
#   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: 438.162294 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 46
#   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: 438.162294 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 46
#   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: 438.162294 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 46
#   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: 438.162294 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 46
#   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: 438.162294 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 45
#   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: 438.162294 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 45
#   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: 438.162294 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 45
#   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: 438.162294 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 45
#   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: 438.162294 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 45
#   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: 438.162294 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 44
#   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: 438.162294 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 44
#   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: 438.162294 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 44
#   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: 438.162294 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 44
#   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: 438.162294 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 43
#   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: 438.162294 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 43
#   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: 438.162294 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 43
#   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: 438.162294 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 43
#   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: 438.162294 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 43
#   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: 438.162294 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 43
#   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: 438.162294 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 43
#   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: 438.162294 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 43
#   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: 438.162294 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 42
#   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: 438.162294 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 42
#   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: 438.162294 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 42
#   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: 438.162294 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 41
#   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: 438.162294 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 41
#   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: 438.162294 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 41
#   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: 438.162294 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 40
#   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: 438.162294 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 40
#   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: 438.162294 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 40
#   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: 438.162294 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 39
#   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: 438.162294 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 39
#   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: 438.162294 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 39
#   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: 438.162294 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 39
#   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: 438.162294 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 39
#   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: 438.162294 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 38
#   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: 438.162294 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 38
#   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: 438.162294 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 38
#   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: 438.162294 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 37
#   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: 438.162294 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 37
#   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: 438.162294 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 37
#   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: 438.162294 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 37
#   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: 438.162294 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 37
#   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: 438.162294 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 37
#   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: 438.162294 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 37
#   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: 438.162294 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 37
#   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: 438.162294 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 36
#   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: 438.162294 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 36
#   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: 438.162294 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 36
#   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: 438.162294 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 36
#   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: 438.162294 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 35
#   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: 438.162294 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 35
#   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: 438.162294 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 35
#   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: 438.162294 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 35
#   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: 438.162294 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 34
#   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: 438.162294 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 34
#   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: 438.162294 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 34
#   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: 438.162294 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 34
#   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: 438.162294 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 34
#   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: 438.162294 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 34
#   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: 438.162294 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 33
#   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: 438.162294 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 33
#   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: 438.162294 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 33
#   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: 438.162294 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 33
#   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: 438.162294 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 33
#   Segment length 105.689647 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: 438.162294 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 32
#   Segment length 145.108716 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: 438.162294 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 32
#   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: 438.162294 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 32
#   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: 438.162294 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 = 231.092754;
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 31
#   Segment length 86.083371 meters
#   Minimum depth: 281.092754 meters looking forward 200.000000 meters along route
#   Maximum depth: 330.554798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.092754 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 = 231.092754;
finalDepth = 231.092754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.996293
#   Actual altitude:          82.996293
#   Commanded vehicle depth:  231.092754 
#   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 31
#   Segment length 101.667783 meters
#   Minimum depth: 281.092754 meters looking forward 200.000000 meters along route
#   Maximum depth: 335.481909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.092754 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 = 231.900287;
finalDepth = 231.092754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.3335
#   Actual altitude:          62.3335
#   Commanded vehicle depth:  231.092754 
#   Seafloor depth:           -285.368781
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 30
#   Segment length 76.800071 meters
#   Minimum depth: 281.900287 meters looking forward 200.000000 meters along route
#   Maximum depth: 336.212995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.900287 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 = 267.682360;
finalDepth = 231.900287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.803967
#   Actual altitude:          98.803967
#   Commanded vehicle depth:  231.900287 
#   Seafloor depth:           -330.704254
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.64;
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 30
#   Segment length 100.847458 meters
#   Minimum depth: 317.682360 meters looking forward 200.000000 meters along route
#   Maximum depth: 396.269628 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 267.682360 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 = 299.020455;
finalDepth = 267.682360;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       98.803967
#   Actual altitude:          98.803967
#   Commanded vehicle depth:  267.68236 
#   Seafloor depth:           -340.300913
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 29.64;
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 30
#   Segment length 110.139223 meters
#   Minimum depth: 349.020455 meters looking forward 200.000000 meters along route
#   Maximum depth: 403.995082 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.020455 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 = 299.691291;
finalDepth = 299.020455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       100.463615
#   Actual altitude:          100
#   Commanded vehicle depth:  299.020455 
#   Seafloor depth:           -399.484070
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 29
#   Segment length 152.508527 meters
#   Minimum depth: 349.691291 meters looking forward 200.000000 meters along route
#   Maximum depth: 396.455394 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.691291 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 = 292.480405;
finalDepth = 299.691291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.463615
#   Actual altitude:          100
#   Commanded vehicle depth:  299.691291 
#   Seafloor depth:           -384.805138
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 29
#   Segment length 102.382486 meters
#   Minimum depth: 342.480405 meters looking forward 200.000000 meters along route
#   Maximum depth: 380.306503 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 292.480405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.800397;
longitude = -122.089870;
duration = 204;
initialDepth = 255.205253;
finalDepth = 292.480405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.113847
#   Actual altitude:          85.113847
#   Commanded vehicle depth:  292.480405 
#   Seafloor depth:           -346.953767
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
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 29
#   Segment length 104.034463 meters
#   Minimum depth: 305.205253 meters looking forward 200.000000 meters along route
#   Maximum depth: 352.899429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 255.205253 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 = 240.318582;
finalDepth = 255.205253;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       78.489423
#   Actual altitude:          78.489423
#   Commanded vehicle depth:  255.205253 
#   Seafloor depth:           -333.694676
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 28
#   Segment length 113.337077 meters
#   Minimum depth: 290.318582 meters looking forward 200.000000 meters along route
#   Maximum depth: 321.294897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 240.318582 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 = 240.318582;
finalDepth = 240.318582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.489423
#   Actual altitude:          78.489423
#   Commanded vehicle depth:  240.318582 
#   Seafloor depth:           -308.193008
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 28
#   Segment length 105.972293 meters
#   Minimum depth: 290.318582 meters looking forward 200.000000 meters along route
#   Maximum depth: 328.607363 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 240.318582 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 = 247.440025;
finalDepth = 240.318582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.874426
#   Actual altitude:          67.874426
#   Commanded vehicle depth:  240.318582 
#   Seafloor depth:           -296.448762
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.36;
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 to get to end of line 27
#   Segment length 95.300365 meters
#   Minimum depth: 297.440025 meters looking forward 200.000000 meters along route
#   Maximum depth: 350.881866 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 247.440025 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 = 280.697701;
finalDepth = 247.440025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.257676
#   Actual altitude:          83.257676
#   Commanded vehicle depth:  247.440025 
#   Seafloor depth:           -330.697701
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 27
#   Segment length 102.928143 meters
#   Minimum depth: 330.697701 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.235804 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 280.697701 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 = 299.943629;
finalDepth = 280.697701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.257676
#   Actual altitude:          83.257676
#   Commanded vehicle depth:  280.697701 
#   Seafloor depth:           -351.866100
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 27
#   Segment length 110.511483 meters
#   Minimum depth: 349.943629 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.235804 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.943629 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 = 287.030728;
finalDepth = 299.943629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       71.168399
#   Actual altitude:          71.168399
#   Commanded vehicle depth:  299.943629 
#   Seafloor depth:           -359.990945
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.35;
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 to get to end of line 26
#   Segment length 153.158041 meters
#   Minimum depth: 337.030728 meters looking forward 200.000000 meters along route
#   Maximum depth: 352.213563 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 287.030728 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 = 287.030728;
finalDepth = 287.030728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.829662
#   Actual altitude:          62.829662
#   Commanded vehicle depth:  287.030728 
#   Seafloor depth:           -349.860390
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 110.985300 meters
#   Minimum depth: 337.030728 meters looking forward 200.000000 meters along route
#   Maximum depth: 345.834183 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 287.030728 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 = 291.440353;
finalDepth = 287.030728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.829662
#   Actual altitude:          62.829662
#   Commanded vehicle depth:  287.030728 
#   Seafloor depth:           -340.864876
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 175.231902 meters
#   Minimum depth: 341.440353 meters looking forward 200.000000 meters along route
#   Maximum depth: 398.630109 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 291.440353 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 = 321.085511;
finalDepth = 291.440353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.834148
#   Actual altitude:          53.834148
#   Commanded vehicle depth:  291.440353 
#   Seafloor depth:           -342.399757
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 25
#   Segment length 101.085405 meters
#   Minimum depth: 371.085511 meters looking forward 200.000000 meters along route
#   Maximum depth: 398.630109 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 321.085511 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 = 299.522010;
finalDepth = 321.085511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.8982
#   Actual altitude:          72.8982
#   Commanded vehicle depth:  321.085511 
#   Seafloor depth:           -393.983711
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 25
#   Segment length 104.450765 meters
#   Minimum depth: 349.522010 meters looking forward 200.000000 meters along route
#   Maximum depth: 394.985958 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 299.522010 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 = 296.936102;
finalDepth = 299.522010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       72.8982
#   Actual altitude:          72.8982
#   Commanded vehicle depth:  299.52201 
#   Seafloor depth:           -369.440940
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 24
#   Segment length 175.229433 meters
#   Minimum depth: 346.936102 meters looking forward 200.000000 meters along route
#   Maximum depth: 352.696211 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 296.936102 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 = 350;
# abortOnTimeout    = True; 
initialDepth = 298.690365;
finalDepth = 296.936102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.91893
#   Actual altitude:          69.91893
#   Commanded vehicle depth:  296.936102 
#   Seafloor depth:           -349.162766
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 24
#   Segment length 100.661530 meters
#   Minimum depth: 348.690365 meters looking forward 200.000000 meters along route
#   Maximum depth: 359.205787 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 298.690365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792041;
longitude = -122.101969;
duration = 201;
initialDepth = 305.058214;
finalDepth = 298.690365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.746959
#   Actual altitude:          53.746959
#   Commanded vehicle depth:  298.690365 
#   Seafloor depth:           -352.437324
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.12;
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 24
#   Segment length 100.661936 meters
#   Minimum depth: 355.058214 meters looking forward 200.000000 meters along route
#   Maximum depth: 367.306914 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 305.058214 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791634;
longitude = -122.102977;
duration = 201;
initialDepth = 310.833828;
finalDepth = 305.058214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.644425
#   Actual altitude:          55.644425
#   Commanded vehicle depth:  305.058214 
#   Seafloor depth:           -360.702639
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 24
#   Segment length 100.662342 meters
#   Minimum depth: 360.833828 meters looking forward 200.000000 meters along route
#   Maximum depth: 370.316017 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 310.833828 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791227;
longitude = -122.103986;
duration = 201;
initialDepth = 317.380070;
finalDepth = 310.833828;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.713915
#   Actual altitude:          55.713915
#   Commanded vehicle depth:  310.833828 
#   Seafloor depth:           -366.547743
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 24
#   Segment length 100.662749 meters
#   Minimum depth: 367.380070 meters looking forward 200.000000 meters along route
#   Maximum depth: 380.318450 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 317.380070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790820;
longitude = -122.104994;
duration = 201;
initialDepth = 322.500064;
finalDepth = 317.380070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.713915
#   Actual altitude:          55.713915
#   Commanded vehicle depth:  317.38007 
#   Seafloor depth:           -372.133225
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 24
#   Segment length 100.663155 meters
#   Minimum depth: 372.500064 meters looking forward 200.000000 meters along route
#   Maximum depth: 387.482837 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 322.500064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790413;
longitude = -122.106002;
duration = 201;
initialDepth = 331.620874;
finalDepth = 322.500064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.71985
#   Actual altitude:          59.71985
#   Commanded vehicle depth:  322.500064 
#   Seafloor depth:           -382.219914
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.92;
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 24
#   Segment length 100.663561 meters
#   Minimum depth: 381.620874 meters looking forward 200.000000 meters along route
#   Maximum depth: 396.450887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 331.620874 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790006;
longitude = -122.107011;
duration = 201;
initialDepth = 337.873180;
finalDepth = 331.620874;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.71985
#   Actual altitude:          59.71985
#   Commanded vehicle depth:  331.620874 
#   Seafloor depth:           -388.477458
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.92;
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 24
#   Segment length 104.774885 meters
#   Minimum depth: 387.873180 meters looking forward 200.000000 meters along route
#   Maximum depth: 401.144872 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 337.873180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789599;
longitude = -122.108019;
duration = 209;
initialDepth = 345.840536;
finalDepth = 337.873180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.089822
#   Actual altitude:          58.089822
#   Commanded vehicle depth:  337.87318 
#   Seafloor depth:           -395.963002
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 24
#   Segment length 104.010093 meters
#   Minimum depth: 395.840536 meters looking forward 200.000000 meters along route
#   Maximum depth: 412.184837 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 345.840536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789175;
longitude = -122.109068;
duration = 208;
initialDepth = 350.669363;
finalDepth = 345.840536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.089822
#   Actual altitude:          58.089822
#   Commanded vehicle depth:  345.840536 
#   Seafloor depth:           -401.123545
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 23
#   Segment length 79.005464 meters
#   Minimum depth: 400.669363 meters looking forward 200.000000 meters along route
#   Maximum depth: 423.275717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 350.669363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788755;
longitude = -122.110110;
duration = 158;
# abortOnTimeout    = True; 
initialDepth = 361.357340;
finalDepth = 350.669363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.687977
#   Actual altitude:          60.687977
#   Commanded vehicle depth:  350.669363 
#   Seafloor depth:           -411.357340
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.21;
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 23
#   Segment length 108.632635 meters
#   Minimum depth: 411.357340 meters looking forward 200.000000 meters along route
#   Maximum depth: 440.552879 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 361.357340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788084;
longitude = -122.109811;
duration = 217;
initialDepth = 380.431037;
finalDepth = 361.357340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.123721
#   Actual altitude:          62.123721
#   Commanded vehicle depth:  361.35734 
#   Seafloor depth:           -423.481061
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.64;
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 22
#   Segment length 139.506237 meters
#   Minimum depth: 430.431037 meters looking forward 200.000000 meters along route
#   Maximum depth: 441.013850 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 380.431037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787163;
longitude = -122.109401;
duration = 279;
# abortOnTimeout    = True; 
initialDepth = 374.491715;
finalDepth = 380.431037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.123721
#   Actual altitude:          62.123721
#   Commanded vehicle depth:  380.431037 
#   Seafloor depth:           -440.895711
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.64;
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 22
#   Segment length 102.652896 meters
#   Minimum depth: 424.491715 meters looking forward 200.000000 meters along route
#   Maximum depth: 437.042279 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 374.491715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787751;
longitude = -122.108019;
duration = 205;
initialDepth = 369.241065;
finalDepth = 374.491715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.464674
#   Actual altitude:          60.464674
#   Commanded vehicle depth:  374.491715 
#   Seafloor depth:           -430.146566
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 22
#   Segment length 100.949371 meters
#   Minimum depth: 419.241065 meters looking forward 200.000000 meters along route
#   Maximum depth: 431.114200 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 369.241065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788184;
longitude = -122.107002;
duration = 201;
initialDepth = 361.580817;
finalDepth = 369.241065;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.654851
#   Actual altitude:          55.654851
#   Commanded vehicle depth:  369.241065 
#   Seafloor depth:           -424.486845
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 101.800497 meters
#   Minimum depth: 411.580817 meters looking forward 200.000000 meters along route
#   Maximum depth: 424.039007 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 361.580817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788610;
longitude = -122.106002;
duration = 203;
initialDepth = 352.479970;
finalDepth = 361.580817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.175828
#   Actual altitude:          57.175828
#   Commanded vehicle depth:  361.580817 
#   Seafloor depth:           -418.756645
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 22
#   Segment length 101.800074 meters
#   Minimum depth: 402.479970 meters looking forward 200.000000 meters along route
#   Maximum depth: 419.124214 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 352.479970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789039;
longitude = -122.104994;
duration = 203;
initialDepth = 350.331608;
finalDepth = 352.479970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.477196
#   Actual altitude:          59.477196
#   Commanded vehicle depth:  352.47997 
#   Seafloor depth:           -411.957166
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
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 22
#   Segment length 101.799649 meters
#   Minimum depth: 400.331608 meters looking forward 200.000000 meters along route
#   Maximum depth: 411.599621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 350.331608 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789469;
longitude = -122.103986;
duration = 203;
initialDepth = 350.331608;
finalDepth = 350.331608;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.477196
#   Actual altitude:          59.477196
#   Commanded vehicle depth:  350.331608 
#   Seafloor depth:           -404.614728
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
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 22
#   Segment length 101.799225 meters
#   Minimum depth: 400.331608 meters looking forward 200.000000 meters along route
#   Maximum depth: 411.787889 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 350.331608 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789898;
longitude = -122.102977;
duration = 203;
initialDepth = 345.278526;
finalDepth = 350.331608;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.164782
#   Actual altitude:          61.164782
#   Commanded vehicle depth:  350.331608 
#   Seafloor depth:           -411.496390
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.35;
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 22
#   Segment length 101.798801 meters
#   Minimum depth: 395.278526 meters looking forward 200.000000 meters along route
#   Maximum depth: 411.787889 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 345.278526 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790327;
longitude = -122.101969;
duration = 203;
initialDepth = 342.785275;
finalDepth = 345.278526;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.164782
#   Actual altitude:          61.164782
#   Commanded vehicle depth:  345.278526 
#   Seafloor depth:           -402.962691
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.35;
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 22
#   Segment length 109.334269 meters
#   Minimum depth: 392.785275 meters looking forward 200.000000 meters along route
#   Maximum depth: 405.594569 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 342.785275 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790757;
longitude = -122.100961;
duration = 218;
initialDepth = 346.482668;
finalDepth = 342.785275;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       57.684165
#   Actual altitude:          57.684165
#   Commanded vehicle depth:  342.785275 
#   Seafloor depth:           -395.367271
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 to get to end of line 21
#   Segment length 164.760988 meters
#   Minimum depth: 396.482668 meters looking forward 200.000000 meters along route
#   Maximum depth: 445.924647 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 346.482668 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 = 364.919605;
finalDepth = 346.482668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.410452
#   Actual altitude:          53.410452
#   Commanded vehicle depth:  346.482668 
#   Seafloor depth:           -399.893120
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 21
#   Segment length 100.871321 meters
#   Minimum depth: 414.919605 meters looking forward 200.000000 meters along route
#   Maximum depth: 454.843715 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 364.919605 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 = 335.556621;
finalDepth = 364.919605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.92411
#   Actual altitude:          89.92411
#   Commanded vehicle depth:  364.919605 
#   Seafloor depth:           -454.843715
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 21
#   Segment length 107.576822 meters
#   Minimum depth: 385.556621 meters looking forward 200.000000 meters along route
#   Maximum depth: 449.797951 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.556621 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 = 335.556621;
finalDepth = 335.556621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       89.92411
#   Actual altitude:          89.92411
#   Commanded vehicle depth:  335.556621 
#   Seafloor depth:           -412.949877
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 20
#   Segment length 161.196830 meters
#   Minimum depth: 385.556621 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.425397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.556621 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 = 334.833591;
finalDepth = 335.556621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.393256
#   Actual altitude:          77.393256
#   Commanded vehicle depth:  335.556621 
#   Seafloor depth:           -388.922256
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 23.22;
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 20
#   Segment length 108.001212 meters
#   Minimum depth: 384.833591 meters looking forward 200.000000 meters along route
#   Maximum depth: 409.425397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 334.833591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792335;
longitude = -122.094127;
duration = 216;
initialDepth = 332.257421;
finalDepth = 334.833591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.023169
#   Actual altitude:          58.023169
#   Commanded vehicle depth:  334.833591 
#   Seafloor depth:           -392.856760
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 20
#   Segment length 101.874973 meters
#   Minimum depth: 382.257421 meters looking forward 200.000000 meters along route
#   Maximum depth: 398.864153 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 332.257421 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 = 332.257421;
finalDepth = 332.257421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       58.023169
#   Actual altitude:          58.023169
#   Commanded vehicle depth:  332.257421 
#   Seafloor depth:           -384.644935
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 19
#   Segment length 140.329993 meters
#   Minimum depth: 382.257421 meters looking forward 200.000000 meters along route
#   Maximum depth: 419.800332 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 332.257421 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 = 353.370793;
finalDepth = 332.257421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.4229529999999
#   Actual altitude:          58.4229529999999
#   Commanded vehicle depth:  332.257421 
#   Seafloor depth:           -390.680374
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 17.53;
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 19
#   Segment length 102.404624 meters
#   Minimum depth: 403.370793 meters looking forward 200.000000 meters along route
#   Maximum depth: 443.149235 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 353.370793 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 = 343.636439;
finalDepth = 353.370793;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.924095
#   Actual altitude:          69.924095
#   Commanded vehicle depth:  353.370793 
#   Seafloor depth:           -423.294888
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 19
#   Segment length 106.224327 meters
#   Minimum depth: 393.636439 meters looking forward 200.000000 meters along route
#   Maximum depth: 443.149235 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 343.636439 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 = 330.446400;
finalDepth = 343.636439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       89.772799
#   Actual altitude:          89.772799
#   Commanded vehicle depth:  343.636439 
#   Seafloor depth:           -433.409238
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 18
#   Segment length 168.688284 meters
#   Minimum depth: 380.446400 meters looking forward 200.000000 meters along route
#   Maximum depth: 402.583743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 330.446400 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 = 328.691730;
finalDepth = 330.446400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.772799
#   Actual altitude:          89.772799
#   Commanded vehicle depth:  330.4464 
#   Seafloor depth:           -391.151978
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 18
#   Segment length 100.523778 meters
#   Minimum depth: 378.691730 meters looking forward 200.000000 meters along route
#   Maximum depth: 393.038410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 328.691730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797377;
longitude = -122.089467;
duration = 201;
initialDepth = 327.404152;
finalDepth = 328.691730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       60.705578
#   Actual altitude:          60.705578
#   Commanded vehicle depth:  328.69173 
#   Seafloor depth:           -389.039640
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.21;
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 to get to end of line 17
#   Segment length 179.112409 meters
#   Minimum depth: 377.404152 meters looking forward 200.000000 meters along route
#   Maximum depth: 444.437002 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 327.404152 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 = 361.959210;
finalDepth = 327.404152;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.34791
#   Actual altitude:          60.34791
#   Commanded vehicle depth:  327.404152 
#   Seafloor depth:           -381.689583
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 105.388418 meters
#   Minimum depth: 411.959210 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.529671 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 361.959210 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 = 372.167136;
finalDepth = 361.959210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       82.524746
#   Actual altitude:          82.524746
#   Commanded vehicle depth:  361.95921 
#   Seafloor depth:           -444.483956
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 16
#   Segment length 101.679911 meters
#   Minimum depth: 422.167136 meters looking forward 200.000000 meters along route
#   Maximum depth: 450.529671 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 372.167136 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 = 345.385596;
finalDepth = 372.167136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.524746
#   Actual altitude:          82.524746
#   Commanded vehicle depth:  372.167136 
#   Seafloor depth:           -445.021866
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 16
#   Segment length 101.677150 meters
#   Minimum depth: 395.385596 meters looking forward 200.000000 meters along route
#   Maximum depth: 449.414538 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 345.385596 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 = 324.072525;
finalDepth = 345.385596;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       72.85473
#   Actual altitude:          72.85473
#   Commanded vehicle depth:  345.385596 
#   Seafloor depth:           -417.784604
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 21.86;
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 15
#   Segment length 106.171328 meters
#   Minimum depth: 374.072525 meters looking forward 200.000000 meters along route
#   Maximum depth: 413.022020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 324.072525 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 = 324.072525;
finalDepth = 324.072525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.263298
#   Actual altitude:          84.263298
#   Commanded vehicle depth:  324.072525 
#   Seafloor depth:           -408.335823
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.28;
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 15
#   Segment length 109.629924 meters
#   Minimum depth: 374.072525 meters looking forward 200.000000 meters along route
#   Maximum depth: 392.258589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 324.072525 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 = 324.769725;
finalDepth = 324.072525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       84.263298
#   Actual altitude:          84.263298
#   Commanded vehicle depth:  324.072525 
#   Seafloor depth:           -375.641464
# 
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 = 25.28;
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;
}
# 
#######################################################
# 
# 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 83.658637 meters
#   Minimum depth: 374.769725 meters looking forward 200.000000 meters along route
#   Maximum depth: 390.844470 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 324.769725 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 = 324.769725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.667142
#   Actual altitude:          59.667142
#   Commanded vehicle depth:  324.769725 
#   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 14
#   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: 438.162294 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 14
#   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: 438.162294 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 13
#   Segment length 86.102909 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: 438.162294 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 13
#   Segment length 100.710088 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: 438.162294 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 13
#   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: 438.162294 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 13
#   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: 438.162294 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 12
#   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: 438.162294 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 12
#   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: 438.162294 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 12
#   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: 438.162294 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 12
#   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: 438.162294 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 12
#   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: 438.162294 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 11
#   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: 438.162294 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 11
#   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: 438.162294 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 11
#   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: 438.162294 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 11
#   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: 438.162294 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 10
#   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: 438.162294 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 10
#   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: 438.162294 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 10
#   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: 438.162294 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 10
#   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: 438.162294 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 9
#   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: 438.162294 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 9
#   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: 438.162294 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 9
#   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: 438.162294 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 9
#   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: 438.162294 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 9
#   Segment length 102.745512 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: 438.162294 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 9
#   Segment length 102.745765 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: 438.162294 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 9
#   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: 438.162294 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 9
#   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: 438.162294 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 8
#   Segment length 110.093238 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: 438.162294 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 8
#   Segment length 105.643609 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: 438.162294 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 8
#   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: 438.162294 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 8
#   Segment length 101.943703 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: 438.162294 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 7
#   Segment length 104.957470 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: 438.162294 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 7
#   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: 438.162294 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 7
#   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: 438.162294 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 7
#   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: 438.162294 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 = 344.818474;
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 6
#   Segment length 79.679713 meters
#   Minimum depth: 394.818474 meters looking forward 200.000000 meters along route
#   Maximum depth: 414.981274 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 344.818474 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 = 159;
# abortOnTimeout    = True; 
initialDepth = 308.595151;
finalDepth = 344.818474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.35244
#   Actual altitude:          60.35244
#   Commanded vehicle depth:  344.818474 
#   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 = 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 6
#   Segment length 103.936281 meters
#   Minimum depth: 358.595151 meters looking forward 200.000000 meters along route
#   Maximum depth: 408.353658 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 308.595151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779352;
longitude = -122.057099;
duration = 207;
initialDepth = 276.237967;
finalDepth = 308.595151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.735115
#   Actual altitude:          83.735115
#   Commanded vehicle depth:  308.595151 
#   Seafloor depth:           -392.330266
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 6
#   Segment length 103.936211 meters
#   Minimum depth: 326.237967 meters looking forward 200.000000 meters along route
#   Maximum depth: 388.252754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 276.237967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780253;
longitude = -122.056781;
duration = 207;
initialDepth = 250.304898;
finalDepth = 276.237967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.064207
#   Actual altitude:          86.064207
#   Commanded vehicle depth:  276.237967 
#   Seafloor depth:           -362.302174
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.82;
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 6
#   Segment length 103.936141 meters
#   Minimum depth: 300.304898 meters looking forward 200.000000 meters along route
#   Maximum depth: 354.026815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 250.304898 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781154;
longitude = -122.056463;
duration = 207;
initialDepth = 231.358154;
finalDepth = 250.304898;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.064207
#   Actual altitude:          86.064207
#   Commanded vehicle depth:  250.304898 
#   Seafloor depth:           -324.995978
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.82;
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 6
#   Segment length 103.936071 meters
#   Minimum depth: 281.358154 meters looking forward 200.000000 meters along route
#   Maximum depth: 321.760733 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 231.358154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782056;
longitude = -122.056145;
duration = 207;
initialDepth = 214.900882;
finalDepth = 231.358154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.69108
#   Actual altitude:          74.69108
#   Commanded vehicle depth:  231.358154 
#   Seafloor depth:           -300.174757
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 22.41;
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 6
#   Segment length 103.936000 meters
#   Minimum depth: 264.900882 meters looking forward 200.000000 meters along route
#   Maximum depth: 298.121746 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 214.900882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782957;
longitude = -122.055826;
duration = 207;
initialDepth = 210.564469;
finalDepth = 214.900882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.816603
#   Actual altitude:          68.816603
#   Commanded vehicle depth:  214.900882 
#   Seafloor depth:           -277.138194
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.64;
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 103.935930 meters
#   Minimum depth: 260.564469 meters looking forward 200.000000 meters along route
#   Maximum depth: 278.350505 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 210.564469 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783858;
longitude = -122.055508;
duration = 207;
initialDepth = 196.858519;
finalDepth = 210.564469;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.237312
#   Actual altitude:          62.237312
#   Commanded vehicle depth:  210.564469 
#   Seafloor depth:           -264.495323
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 103.935859 meters
#   Minimum depth: 246.858519 meters looking forward 200.000000 meters along route
#   Maximum depth: 264.832582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 196.858519 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784759;
longitude = -122.055190;
duration = 207;
initialDepth = 179.125741;
finalDepth = 196.858519;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.096078
#   Actual altitude:          64.096078
#   Commanded vehicle depth:  196.858519 
#   Seafloor depth:           -260.954597
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 19.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 107.414302 meters
#   Minimum depth: 229.125741 meters looking forward 200.000000 meters along route
#   Maximum depth: 256.989038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 179.125741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785661;
longitude = -122.054872;
duration = 214;
initialDepth = 169.955503;
finalDepth = 179.125741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.798034
#   Actual altitude:          67.798034
#   Commanded vehicle depth:  179.125741 
#   Seafloor depth:           -246.923775
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.34;
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 5
#   Segment length 172.143927 meters
#   Minimum depth: 219.955503 meters looking forward 200.000000 meters along route
#   Maximum depth: 231.715635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 169.955503 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 = 155.680955;
finalDepth = 169.955503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.798034
#   Actual altitude:          67.798034
#   Commanded vehicle depth:  169.955503 
#   Seafloor depth:           -229.431591
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 20.34;
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 5
#   Segment length 106.711491 meters
#   Minimum depth: 205.680955 meters looking forward 200.000000 meters along route
#   Maximum depth: 226.401567 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 155.680955 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 = 142.382464;
finalDepth = 155.680955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       64.063905
#   Actual altitude:          64.063905
#   Commanded vehicle depth:  155.680955 
#   Seafloor depth:           -219.744860
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 4
#   Segment length 86.803925 meters
#   Minimum depth: 192.382464 meters looking forward 200.000000 meters along route
#   Maximum depth: 219.744860 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 142.382464 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 = 125.016570;
finalDepth = 142.382464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.063905
#   Actual altitude:          64.063905
#   Commanded vehicle depth:  142.382464 
#   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 4
#   Segment length 100.128988 meters
#   Minimum depth: 175.016570 meters looking forward 200.000000 meters along route
#   Maximum depth: 205.680955 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 125.016570 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 = 109.113711;
finalDepth = 125.016570;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.07643
#   Actual altitude:          65.07643
#   Commanded vehicle depth:  125.01657 
#   Seafloor depth:           -190.093000
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 4
#   Segment length 100.128998 meters
#   Minimum depth: 159.113711 meters looking forward 200.000000 meters along route
#   Maximum depth: 188.546390 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 109.113711 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 = 97.344973;
finalDepth = 109.113711;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.07643
#   Actual altitude:          65.07643
#   Commanded vehicle depth:  109.113711 
#   Seafloor depth:           -173.420603
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 4
#   Segment length 100.129008 meters
#   Minimum depth: 147.344973 meters looking forward 200.000000 meters along route
#   Maximum depth: 171.263022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 97.344973 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 = 86.055166;
finalDepth = 97.344973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.306892
#   Actual altitude:          64.306892
#   Commanded vehicle depth:  97.344973 
#   Seafloor depth:           -157.744115
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 4
#   Segment length 106.765246 meters
#   Minimum depth: 136.055166 meters looking forward 200.000000 meters along route
#   Maximum depth: 156.526061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 86.055166 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 = 80.781967;
finalDepth = 86.055166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       60.914701
#   Actual altitude:          60.914701
#   Commanded vehicle depth:  86.055166 
#   Seafloor depth:           -146.969867
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 3
#   Segment length 110.848321 meters
#   Minimum depth: 130.781967 meters looking forward 200.000000 meters along route
#   Maximum depth: 145.065276 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 80.781967 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 = 221;
# abortOnTimeout    = True; 
initialDepth = 76.850234;
finalDepth = 80.781967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.914701
#   Actual altitude:          60.914701
#   Commanded vehicle depth:  80.781967 
#   Seafloor depth:           -135.956055
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 3
#   Segment length 101.197253 meters
#   Minimum depth: 126.850234 meters looking forward 200.000000 meters along route
#   Maximum depth: 135.177438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 76.850234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794403;
longitude = -122.054506;
duration = 202;
initialDepth = 72.336706;
finalDepth = 76.850234;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.174088
#   Actual altitude:          55.174088
#   Commanded vehicle depth:  76.850234 
#   Seafloor depth:           -130.554921
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 3
#   Segment length 102.543307 meters
#   Minimum depth: 122.336706 meters looking forward 200.000000 meters along route
#   Maximum depth: 130.537229 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 72.336706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795253;
longitude = -122.054916;
duration = 205;
initialDepth = 66.732004;
finalDepth = 72.336706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.275651
#   Actual altitude:          54.275651
#   Commanded vehicle depth:  72.336706 
#   Seafloor depth:           -126.612357
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 3
#   Segment length 107.231643 meters
#   Minimum depth: 116.732004 meters looking forward 200.000000 meters along route
#   Maximum depth: 125.568719 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 66.732004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796115;
longitude = -122.055331;
duration = 214;
initialDepth = 61.970668;
finalDepth = 66.732004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.387787
#   Actual altitude:          55.387787
#   Commanded vehicle depth:  66.732004 
#   Seafloor depth:           -122.119791
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 3
#   Segment length 103.657105 meters
#   Minimum depth: 111.970668 meters looking forward 200.000000 meters along route
#   Maximum depth: 121.312337 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.970668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797016;
longitude = -122.055766;
duration = 207;
initialDepth = 61.536031;
finalDepth = 61.970668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.387787
#   Actual altitude:          55.387787
#   Commanded vehicle depth:  61.970668 
#   Seafloor depth:           -116.278955
# 
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 2
#   Segment length 99.312280 meters
#   Minimum depth: 111.536031 meters looking forward 200.000000 meters along route
#   Maximum depth: 115.761621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.536031 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797887;
longitude = -122.056186;
duration = 198;
# abortOnTimeout    = True; 
initialDepth = 61.798621;
finalDepth = 61.536031;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.308287
#   Actual altitude:          54.308287
#   Commanded vehicle depth:  61.536031 
#   Seafloor depth:           -111.536031
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 16.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.737087 meters
#   Minimum depth: 111.798621 meters looking forward 200.000000 meters along route
#   Maximum depth: 119.322746 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.798621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797680;
longitude = -122.057269;
duration = 205;
initialDepth = 64.932272;
finalDepth = 61.798621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.994895
#   Actual altitude:          51.994895
#   Commanded vehicle depth:  61.798621 
#   Seafloor depth:           -113.793516
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.737336 meters
#   Minimum depth: 114.932272 meters looking forward 200.000000 meters along route
#   Maximum depth: 131.949814 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.932272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797466;
longitude = -122.058389;
duration = 205;
initialDepth = 70.205279;
finalDepth = 64.932272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.399288
#   Actual altitude:          54.399288
#   Commanded vehicle depth:  64.932272 
#   Seafloor depth:           -119.331560
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 2
#   Segment length 102.737585 meters
#   Minimum depth: 120.205279 meters looking forward 200.000000 meters along route
#   Maximum depth: 140.379797 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 70.205279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797252;
longitude = -122.059509;
duration = 205;
initialDepth = 83.732398;
finalDepth = 70.205279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.703931
#   Actual altitude:          62.703931
#   Commanded vehicle depth:  70.205279 
#   Seafloor depth:           -132.909210
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 2
#   Segment length 102.737834 meters
#   Minimum depth: 133.732398 meters looking forward 200.000000 meters along route
#   Maximum depth: 147.345593 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 83.732398 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797038;
longitude = -122.060630;
duration = 205;
initialDepth = 92.991563;
finalDepth = 83.732398;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.703931
#   Actual altitude:          62.703931
#   Commanded vehicle depth:  83.732398 
#   Seafloor depth:           -141.309066
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 2
#   Segment length 109.587299 meters
#   Minimum depth: 142.991563 meters looking forward 200.000000 meters along route
#   Maximum depth: 157.815716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 92.991563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796824;
longitude = -122.061750;
duration = 219;
initialDepth = 98.355374;
finalDepth = 92.991563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.576668
#   Actual altitude:          57.576668
#   Commanded vehicle depth:  92.991563 
#   Seafloor depth:           -147.436082
# 
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 = 17.27;
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 99.218057 meters
#   Minimum depth: 148.355374 meters looking forward 200.000000 meters along route
#   Maximum depth: 159.639526 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 98.355374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796596;
longitude = -122.062945;
duration = 198;
# abortOnTimeout    = True; 
initialDepth = 93.032137;
finalDepth = 98.355374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.284152
#   Actual altitude:          61.284152
#   Commanded vehicle depth:  98.355374 
#   Seafloor depth:           -159.639526
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.39;
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 1
#   Segment length 102.639130 meters
#   Minimum depth: 143.032137 meters looking forward 200.000000 meters along route
#   Maximum depth: 157.820046 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.032137 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796799;
longitude = -122.061862;
duration = 205;
initialDepth = 84.473928;
finalDepth = 93.032137;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.284152
#   Actual altitude:          61.284152
#   Commanded vehicle depth:  93.032137 
#   Seafloor depth:           -148.363341
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 18.39;
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 1
#   Segment length 102.638885 meters
#   Minimum depth: 134.473928 meters looking forward 200.000000 meters along route
#   Maximum depth: 147.464820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 84.473928 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797009;
longitude = -122.060742;
duration = 205;
initialDepth = 71.654369;
finalDepth = 84.473928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.508171
#   Actual altitude:          57.508171
#   Commanded vehicle depth:  84.473928 
#   Seafloor depth:           -141.982099
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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 1
#   Segment length 102.638640 meters
#   Minimum depth: 121.654369 meters looking forward 200.000000 meters along route
#   Maximum depth: 141.363352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 71.654369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797219;
longitude = -122.059621;
duration = 205;
initialDepth = 65.289568;
finalDepth = 71.654369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.250714
#   Actual altitude:          62.250714
#   Commanded vehicle depth:  71.654369 
#   Seafloor depth:           -133.905083
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 106.219586 meters
#   Minimum depth: 115.289568 meters looking forward 200.000000 meters along route
#   Maximum depth: 133.036478 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 65.289568 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797430;
longitude = -122.058501;
duration = 212;
initialDepth = 62.005689;
finalDepth = 65.289568;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.250714
#   Actual altitude:          62.250714
#   Commanded vehicle depth:  65.289568 
#   Seafloor depth:           -120.376591
# 
behavior reson
{
duration = 6;
SBP_Duration = 300.000;
LoSS_Range = 200.00;
HiSS_Range = 200;
MB_Range = 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;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 102.479343 meters
#   Minimum depth: 112.005689 meters looking forward 200.000000 meters along route
#   Maximum depth: 119.412682 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 62.005689 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797647;
longitude = -122.057342;
duration = 204;
initialDepth = 61.802570;
finalDepth = 62.005689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.087023
#   Actual altitude:          55.087023
#   Commanded vehicle depth:  62.005689 
#   Seafloor depth:           -114.848686
# 
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 = 16.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.842997
#   Sonar parameter altitude: 52.842997
#   Commanded vehicle depth:  61.80257 
#   Seafloor depth:           -111.802570
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
HiSS_Mode = 1;
HiSS_Power = 100.0;
HiSS_Range = 200;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 20;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 15.85;
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;
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: 111.802570 meters looking forward 200.000000 meters along route
#   Maximum depth: 119.412682 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 438.162294 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 61.802570 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 = 61.802570;
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 = 90.0;
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 = 90.0;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
