# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <haxby> at <Thu Nov  1 09:35:53 PDT 2018>
# 
# Program mbm_route2mission version:
#     r
# 
# Mission Summary:
#     Route File:               20181101AUVROVTest_m1v2.rte
#     Mission File:             20181101AUVROVTest_m1v2.cfg
#     Distance:                 65711.541347 (m)
#     Estimated Time:           45628 (s)  12.674 (hr)
#     Abort Time:               68442 (s)
#     Max battery life:         79200 (s)
#     Safety margin:            900 (s)
#     Ascend time:              1405 (s)
#     Way Points:               49
#     Route Points:             606
#     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:            Spiral descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           36 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            6e-05 usec
#                                 Multibeam minimum range fraction: 0.5
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   15 (m)
#     Delta Depth Restart 1:      35 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 75 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      947.375846 (m)
#     Abort Vehicle Depth:        972.375846 (m)
#     Descent Vehicle Depth:      3 (m)
#     Spiral descent depth:       889.444336 m
#     Spiral descent altitude:    50 m
#     Forward Looking Distance:   100 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         15 (degrees)
#     GPS Duration:               600 (s)
#     Descend Rate:               0.417 (m/s)
#     Ascend Rate:                1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:          30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -116.229031 29.132349 -949.444336 0.000000 3
#   1 -116.238570 29.129642 -929.326904 975.267722 3
#   2 -116.219921 29.134905 -871.965169 2880.885698 3
#   3 -116.220523 29.136183 -901.368327 3034.106681 3
#   4 -116.238828 29.130995 -910.098551 4905.317729 3
#   5 -116.237711 29.128364 -935.435710 5216.456930 3
#   6 -116.219405 29.133551 -845.750326 7087.711444 3
#   7 -116.217171 29.128515 -858.111491 7686.639988 3
#   8 -116.224304 29.126334 -909.507568 8421.433686 3
#   9 -116.222757 29.126785 -891.315104 8580.012151 3
#   10 -116.221296 29.127161 -876.385173 8728.123851 5
#   11 -116.219921 29.127688 -867.625163 8874.052865 5
#   12 -116.218718 29.128063 -863.201904 8998.293380 3
#   13 -116.217601 29.128364 -857.807536 9111.976197 3
#   14 -116.222241 29.130619 -887.878011 9627.997401 3
#   15 -116.219663 29.124305 -862.177897 10371.290146 3
#   16 -116.222241 29.130619 -887.878011 11114.582891 3
#   17 -116.218374 29.132424 -830.646973 11540.622603 3
#   18 -116.236937 29.127011 -935.848958 13443.510495 3
#   19 -116.239086 29.132349 -902.310221 14070.765257 3
#   20 -116.220523 29.137536 -920.647380 15965.838088 3
#   21 -116.217686 29.130995 -841.799723 16741.261323 3
#   22 -116.235992 29.125808 -944.938232 18612.558273 3
#   23 -116.235476 29.124455 -946.691976 18770.661992 3
#   24 -116.216913 29.129868 -843.699300 20673.592709 3
#   25 -116.220780 29.138889 -941.052897 21741.611005 3
#   26 -116.240375 29.133476 -899.355632 23739.849308 3
#   27 -116.235734 29.122425 -942.578125 25044.892435 3
#   28 -116.215882 29.128740 -844.708822 27099.120925 3
#   29 -116.221038 29.140242 -956.574056 28468.728699 3
#   30 -116.241320 29.134679 -894.945394 30535.745576 3
#   31 -116.235476 29.121072 -947.026367 32147.047180 3
#   32 -116.214765 29.127462 -850.069336 34282.847707 3
#   33 -116.221210 29.141670 -955.229492 35977.431759 3
#   34 -116.242179 29.135731 -894.001790 38120.773914 3
#   35 -116.235390 29.119568 -951.144206 40029.569840 3
#   36 -116.213991 29.126334 -831.949300 42242.374873 3
#   37 -116.221554 29.142948 -961.781087 44224.806851 3
#   38 -116.243125 29.136934 -891.685465 46426.398361 3
#   39 -116.235218 29.118140 -947.858561 48646.332574 3
#   40 -116.212960 29.124981 -824.104980 50940.746512 3
#   41 -116.221812 29.144302 -970.213786 53248.178257 3
#   42 -116.243984 29.137987 -889.928548 55515.647976 3
#   43 -116.234960 29.116787 -945.861979 58023.298326 3
#   44 -116.227656 29.118892 -936.479085 58771.326482 3
#   45 -116.236507 29.141370 -861.264974 61406.570503 3
#   46 -116.228687 29.143475 -900.130941 62202.248246 3
#   47 -116.220007 29.121072 -851.674479 64824.187108 3
#   48 -116.226882 29.126334 -944.011556 65711.541347 4
# 
# A total of 606 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 10800;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 947.375846;
abortDepth = 972.375846;
minAltitude = 50.000000;
abortAltitude = 15.000000;
deltaDepthRestart = 35.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 1405;
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 48
#   Segment length 110.917832 meters
#   Minimum depth: 937.137390 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.011556 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.137390 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126334;
longitude = -116.226882;
duration = 443;
# abortOnTimeout    = True; 
initialDepth = 874.822113;
finalDepth = 887.137390;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8741660000001
#   Actual altitude:          56.8741660000001
#   Commanded vehicle depth:  887.13739 
#   Seafloor depth:           -944.011556
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 104.580049 meters
#   Minimum depth: 924.822113 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.991028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.822113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125677;
longitude = -116.226023;
duration = 418;
initialDepth = 863.247375;
finalDepth = 874.822113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.1689150000001
#   Actual altitude:          61.1689150000001
#   Commanded vehicle depth:  874.822113 
#   Seafloor depth:           -935.991028
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 114.087745 meters
#   Minimum depth: 913.247375 meters looking forward 100.000000 meters along route
#   Maximum depth: 924.080270 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.247375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125056;
longitude = -116.225212;
duration = 456;
initialDepth = 852.670670;
finalDepth = 863.247375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.1689150000001
#   Actual altitude:          61.1689150000001
#   Commanded vehicle depth:  863.247375 
#   Seafloor depth:           -924.080270
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 114.088183 meters
#   Minimum depth: 902.670670 meters looking forward 100.000000 meters along route
#   Maximum depth: 912.370823 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 852.670670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124380;
longitude = -116.224328;
duration = 456;
initialDepth = 838.905510;
finalDepth = 852.670670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.832895
#   Actual altitude:          60.832895
#   Commanded vehicle depth:  852.67067 
#   Seafloor depth:           -912.370823
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 114.088621 meters
#   Minimum depth: 888.905510 meters looking forward 100.000000 meters along route
#   Maximum depth: 900.833252 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.905510 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123703;
longitude = -116.223444;
duration = 456;
initialDepth = 821.663897;
finalDepth = 838.905510;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.927742
#   Actual altitude:          61.927742
#   Commanded vehicle depth:  838.90551 
#   Seafloor depth:           -900.833252
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 118.842779 meters
#   Minimum depth: 871.663897 meters looking forward 100.000000 meters along route
#   Maximum depth: 887.165292 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 821.663897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123027;
longitude = -116.222561;
duration = 475;
initialDepth = 812.135300;
finalDepth = 821.663897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.501395
#   Actual altitude:          65.501395
#   Commanded vehicle depth:  821.663897 
#   Seafloor depth:           -887.165292
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 109.335777 meters
#   Minimum depth: 862.135300 meters looking forward 100.000000 meters along route
#   Maximum depth: 870.908821 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.135300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122322;
longitude = -116.221640;
duration = 437;
initialDepth = 802.561890;
finalDepth = 812.135300;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.501395
#   Actual altitude:          65.501395
#   Commanded vehicle depth:  812.1353 
#   Seafloor depth:           -870.908821
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 101.413253 meters
#   Minimum depth: 852.561890 meters looking forward 100.000000 meters along route
#   Maximum depth: 860.829651 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 802.561890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121673;
longitude = -116.220793;
duration = 405;
initialDepth = 801.674479;
finalDepth = 802.561890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.773521
#   Actual altitude:          58.773521
#   Commanded vehicle depth:  802.56189 
#   Seafloor depth:           -860.829651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 47
#   Segment length 175.970783 meters
#   Minimum depth: 851.674479 meters looking forward 100.000000 meters along route
#   Maximum depth: 860.850915 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 801.674479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121072;
longitude = -116.220007;
duration = 703;
# abortOnTimeout    = True; 
initialDepth = 812.128052;
finalDepth = 801.674479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2677610000001
#   Actual altitude:          58.2677610000001
#   Commanded vehicle depth:  801.674479 
#   Seafloor depth:           -851.674479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.582349 meters
#   Minimum depth: 862.128052 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.781237 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.128052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122576;
longitude = -116.220589;
duration = 422;
initialDepth = 822.068551;
finalDepth = 812.128052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.494746
#   Actual altitude:          50.494746
#   Commanded vehicle depth:  812.128052 
#   Seafloor depth:           -862.622798
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.582261 meters
#   Minimum depth: 872.068551 meters looking forward 100.000000 meters along route
#   Maximum depth: 874.106947 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.068551 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123478;
longitude = -116.220939;
duration = 422;
initialDepth = 827.148639;
finalDepth = 822.068551;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.494746
#   Actual altitude:          50.494746
#   Commanded vehicle depth:  822.068551 
#   Seafloor depth:           -872.068551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 106.104854 meters
#   Minimum depth: 877.148639 meters looking forward 100.000000 meters along route
#   Maximum depth: 879.855193 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 827.148639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124380;
longitude = -116.221288;
duration = 424;
initialDepth = 829.320426;
finalDepth = 827.148639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  827.148639 
#   Seafloor depth:           -877.148639
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.059397 meters
#   Minimum depth: 879.320426 meters looking forward 100.000000 meters along route
#   Maximum depth: 883.647681 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 829.320426 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125286;
longitude = -116.221640;
duration = 420;
initialDepth = 833.146489;
finalDepth = 829.320426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  829.320426 
#   Seafloor depth:           -879.320426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581991 meters
#   Minimum depth: 883.146489 meters looking forward 100.000000 meters along route
#   Maximum depth: 885.667262 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.146489 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126184;
longitude = -116.221988;
duration = 422;
initialDepth = 834.928249;
finalDepth = 833.146489;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5029860000001
#   Actual altitude:          50.5029860000001
#   Commanded vehicle depth:  833.146489 
#   Seafloor depth:           -883.649475
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581902 meters
#   Minimum depth: 884.928249 meters looking forward 100.000000 meters along route
#   Maximum depth: 893.282099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.928249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127086;
longitude = -116.222337;
duration = 422;
initialDepth = 843.862883;
finalDepth = 834.928249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8175359999999
#   Actual altitude:          50.8175359999999
#   Commanded vehicle depth:  834.928249 
#   Seafloor depth:           -885.745785
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581812 meters
#   Minimum depth: 893.862883 meters looking forward 100.000000 meters along route
#   Maximum depth: 896.659139 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 843.862883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127988;
longitude = -116.222687;
duration = 422;
initialDepth = 847.368550;
finalDepth = 843.862883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8175359999999
#   Actual altitude:          50.8175359999999
#   Commanded vehicle depth:  843.862883 
#   Seafloor depth:           -893.969786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581722 meters
#   Minimum depth: 897.368550 meters looking forward 100.000000 meters along route
#   Maximum depth: 901.695460 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 847.368550 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128890;
longitude = -116.223036;
duration = 422;
initialDepth = 855.777039;
finalDepth = 847.368550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.106903
#   Actual altitude:          50.106903
#   Commanded vehicle depth:  847.36855 
#   Seafloor depth:           -897.368550
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581632 meters
#   Minimum depth: 905.777039 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.264962 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 855.777039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.223386;
duration = 422;
initialDepth = 859.008156;
finalDepth = 855.777039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  855.777039 
#   Seafloor depth:           -905.777039
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581543 meters
#   Minimum depth: 909.008156 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.931201 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 859.008156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130695;
longitude = -116.223735;
duration = 422;
initialDepth = 860.557105;
finalDepth = 859.008156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.805831
#   Actual altitude:          50.805831
#   Commanded vehicle depth:  859.008156 
#   Seafloor depth:           -909.813987
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581453 meters
#   Minimum depth: 910.557105 meters looking forward 100.000000 meters along route
#   Maximum depth: 914.209778 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 860.557105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.224085;
duration = 422;
initialDepth = 863.442414;
finalDepth = 860.557105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.805831
#   Actual altitude:          50.805831
#   Commanded vehicle depth:  860.557105 
#   Seafloor depth:           -910.557105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581363 meters
#   Minimum depth: 913.442414 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.250369 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.442414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132499;
longitude = -116.224434;
duration = 422;
initialDepth = 883.440485;
finalDepth = 863.442414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  863.442414 
#   Seafloor depth:           -913.442414
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581274 meters
#   Minimum depth: 933.440485 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.448259 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 883.440485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133401;
longitude = -116.224784;
duration = 422;
initialDepth = 906.164741;
finalDepth = 883.440485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  883.440485 
#   Seafloor depth:           -933.440485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581184 meters
#   Minimum depth: 956.164741 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.645090 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 906.164741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134303;
longitude = -116.225133;
duration = 422;
initialDepth = 913.528010;
finalDepth = 906.164741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  906.164741 
#   Seafloor depth:           -956.164741
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581095 meters
#   Minimum depth: 963.528010 meters looking forward 100.000000 meters along route
#   Maximum depth: 964.873412 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 913.528010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135205;
longitude = -116.225483;
duration = 422;
initialDepth = 909.614304;
finalDepth = 913.528010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  913.52801 
#   Seafloor depth:           -963.528010
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.581004 meters
#   Minimum depth: 959.614304 meters looking forward 100.000000 meters along route
#   Maximum depth: 963.930927 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 909.614304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136107;
longitude = -116.225832;
duration = 422;
initialDepth = 894.571136;
finalDepth = 909.614304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.316623
#   Actual altitude:          54.316623
#   Commanded vehicle depth:  909.614304 
#   Seafloor depth:           -963.930927
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 107.671626 meters
#   Minimum depth: 944.571136 meters looking forward 100.000000 meters along route
#   Maximum depth: 955.964162 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.571136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137009;
longitude = -116.226182;
duration = 430;
initialDepth = 886.351738;
finalDepth = 894.571136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.799657
#   Actual altitude:          60.799657
#   Commanded vehicle depth:  894.571136 
#   Seafloor depth:           -955.370793
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 103.490115 meters
#   Minimum depth: 936.351738 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.146996 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.351738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137929;
longitude = -116.226538;
duration = 413;
initialDepth = 874.537587;
finalDepth = 886.351738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.799657
#   Actual altitude:          60.799657
#   Commanded vehicle depth:  886.351738 
#   Seafloor depth:           -944.146996
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.580735 meters
#   Minimum depth: 924.537587 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.398498 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.537587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138814;
longitude = -116.226881;
duration = 422;
initialDepth = 863.853299;
finalDepth = 874.537587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.860911
#   Actual altitude:          60.860911
#   Commanded vehicle depth:  874.537587 
#   Seafloor depth:           -935.398498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.580646 meters
#   Minimum depth: 913.853299 meters looking forward 100.000000 meters along route
#   Maximum depth: 922.604914 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.853299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139716;
longitude = -116.227230;
duration = 422;
initialDepth = 848.765131;
finalDepth = 863.853299;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.860911
#   Actual altitude:          60.860911
#   Commanded vehicle depth:  863.853299 
#   Seafloor depth:           -922.604914
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.580557 meters
#   Minimum depth: 898.765131 meters looking forward 100.000000 meters along route
#   Maximum depth: 913.591051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 848.765131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140618;
longitude = -116.227580;
duration = 422;
initialDepth = 850.855239;
finalDepth = 848.765131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.82592
#   Actual altitude:          64.82592
#   Commanded vehicle depth:  848.765131 
#   Seafloor depth:           -913.591051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 124.919453 meters
#   Minimum depth: 900.855239 meters looking forward 100.000000 meters along route
#   Maximum depth: 907.054342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 850.855239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141520;
longitude = -116.227930;
duration = 499;
initialDepth = 847.799005;
finalDepth = 850.855239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.82592
#   Actual altitude:          64.82592
#   Commanded vehicle depth:  850.855239 
#   Seafloor depth:           -900.855239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 103.838111 meters
#   Minimum depth: 897.799005 meters looking forward 100.000000 meters along route
#   Maximum depth: 906.809767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 847.799005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142587;
longitude = -116.228343;
duration = 415;
initialDepth = 834.315613;
finalDepth = 847.799005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.576047
#   Actual altitude:          58.576047
#   Commanded vehicle depth:  847.799005 
#   Seafloor depth:           -906.375052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 46
#   Segment length 148.642056 meters
#   Minimum depth: 884.315613 meters looking forward 100.000000 meters along route
#   Maximum depth: 900.130941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.315613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.143475;
longitude = -116.228687;
duration = 594;
# abortOnTimeout    = True; 
initialDepth = 833.971417;
finalDepth = 834.315613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.815328
#   Actual altitude:          65.815328
#   Commanded vehicle depth:  834.315613 
#   Seafloor depth:           -900.130941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 104.924091 meters
#   Minimum depth: 883.971417 meters looking forward 100.000000 meters along route
#   Maximum depth: 889.804260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.971417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.143081;
longitude = -116.230148;
duration = 419;
initialDepth = 840.099994;
finalDepth = 833.971417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.815328
#   Actual altitude:          65.815328
#   Commanded vehicle depth:  833.971417 
#   Seafloor depth:           -883.971417
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 104.924329 meters
#   Minimum depth: 890.099994 meters looking forward 100.000000 meters along route
#   Maximum depth: 891.922729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 840.099994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142804;
longitude = -116.231179;
duration = 419;
initialDepth = 840.744084;
finalDepth = 840.099994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  840.099994 
#   Seafloor depth:           -890.099994
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 104.924567 meters
#   Minimum depth: 890.744084 meters looking forward 100.000000 meters along route
#   Maximum depth: 891.907212 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 840.744084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142526;
longitude = -116.232210;
duration = 419;
initialDepth = 824.363826;
finalDepth = 840.744084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1631279999999
#   Actual altitude:          51.1631279999999
#   Commanded vehicle depth:  840.744084 
#   Seafloor depth:           -891.907212
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 104.924805 meters
#   Minimum depth: 874.363826 meters looking forward 100.000000 meters along route
#   Maximum depth: 890.110953 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 824.363826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142249;
longitude = -116.233242;
duration = 419;
initialDepth = 807.797409;
finalDepth = 824.363826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.747127
#   Actual altitude:          65.747127
#   Commanded vehicle depth:  824.363826 
#   Seafloor depth:           -890.110953
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 104.925043 meters
#   Minimum depth: 857.797409 meters looking forward 100.000000 meters along route
#   Maximum depth: 865.150696 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 807.797409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141971;
longitude = -116.234273;
duration = 419;
initialDepth = 807.803471;
finalDepth = 807.797409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.747127
#   Actual altitude:          65.747127
#   Commanded vehicle depth:  807.797409 
#   Seafloor depth:           -865.150696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 122.412852 meters
#   Minimum depth: 857.803471 meters looking forward 100.000000 meters along route
#   Maximum depth: 860.086703 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 807.803471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141694;
longitude = -116.235304;
duration = 489;
initialDepth = 810.707060;
finalDepth = 807.803471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.353287
#   Actual altitude:          57.353287
#   Commanded vehicle depth:  807.803471 
#   Seafloor depth:           -858.073669
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 45
#   Segment length 88.134321 meters
#   Minimum depth: 860.707060 meters looking forward 100.000000 meters along route
#   Maximum depth: 863.789185 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 810.707060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141370;
longitude = -116.236507;
duration = 352;
# abortOnTimeout    = True; 
initialDepth = 814.102484;
finalDepth = 810.707060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5579140000001
#   Actual altitude:          50.5579140000001
#   Commanded vehicle depth:  810.70706 
#   Seafloor depth:           -861.264974
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.761270 meters
#   Minimum depth: 864.102484 meters looking forward 100.000000 meters along route
#   Maximum depth: 871.530134 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.102484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140618;
longitude = -116.236211;
duration = 423;
initialDepth = 821.622200;
finalDepth = 814.102484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5579140000001
#   Actual altitude:          50.5579140000001
#   Commanded vehicle depth:  814.102484 
#   Seafloor depth:           -864.102484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.761363 meters
#   Minimum depth: 871.622200 meters looking forward 100.000000 meters along route
#   Maximum depth: 876.473481 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 821.622200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139716;
longitude = -116.235856;
duration = 423;
initialDepth = 830.930153;
finalDepth = 821.622200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.339106
#   Actual altitude:          50.339106
#   Commanded vehicle depth:  821.6222 
#   Seafloor depth:           -871.961306
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.761456 meters
#   Minimum depth: 880.930153 meters looking forward 100.000000 meters along route
#   Maximum depth: 884.480030 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.930153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138814;
longitude = -116.235501;
duration = 423;
initialDepth = 837.044964;
finalDepth = 830.930153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.339106
#   Actual altitude:          50.339106
#   Commanded vehicle depth:  830.930153 
#   Seafloor depth:           -880.930153
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.274954 meters
#   Minimum depth: 887.044964 meters looking forward 100.000000 meters along route
#   Maximum depth: 906.960712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 837.044964 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137912;
longitude = -116.235146;
duration = 425;
initialDepth = 857.002148;
finalDepth = 837.044964;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  837.044964 
#   Seafloor depth:           -887.044964
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.248235 meters
#   Minimum depth: 907.002148 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.867303 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 857.002148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137005;
longitude = -116.234789;
duration = 420;
initialDepth = 863.325895;
finalDepth = 857.002148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  857.002148 
#   Seafloor depth:           -907.002148
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.761734 meters
#   Minimum depth: 913.325895 meters looking forward 100.000000 meters along route
#   Maximum depth: 916.741153 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.325895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136107;
longitude = -116.234435;
duration = 423;
initialDepth = 862.945804;
finalDepth = 863.325895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1708420000001
#   Actual altitude:          50.1708420000001
#   Commanded vehicle depth:  863.325895 
#   Seafloor depth:           -913.496737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.761826 meters
#   Minimum depth: 912.945804 meters looking forward 100.000000 meters along route
#   Maximum depth: 917.512185 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.945804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135205;
longitude = -116.234080;
duration = 423;
initialDepth = 864.867317;
finalDepth = 862.945804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4387410000001
#   Actual altitude:          52.4387410000001
#   Commanded vehicle depth:  862.945804 
#   Seafloor depth:           -915.384545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.761920 meters
#   Minimum depth: 914.867317 meters looking forward 100.000000 meters along route
#   Maximum depth: 917.164446 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 864.867317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134303;
longitude = -116.233725;
duration = 423;
initialDepth = 867.594936;
finalDepth = 864.867317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4387410000001
#   Actual altitude:          52.4387410000001
#   Commanded vehicle depth:  864.867317 
#   Seafloor depth:           -917.164446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762012 meters
#   Minimum depth: 917.594936 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.263005 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.594936 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133401;
longitude = -116.233369;
duration = 423;
initialDepth = 881.776401;
finalDepth = 867.594936;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.297129
#   Actual altitude:          52.297129
#   Commanded vehicle depth:  867.594936 
#   Seafloor depth:           -917.594936
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762104 meters
#   Minimum depth: 931.776401 meters looking forward 100.000000 meters along route
#   Maximum depth: 940.339520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.776401 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132499;
longitude = -116.233014;
duration = 423;
initialDepth = 891.826087;
finalDepth = 881.776401;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  881.776401 
#   Seafloor depth:           -931.776401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762198 meters
#   Minimum depth: 941.826087 meters looking forward 100.000000 meters along route
#   Maximum depth: 946.000978 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 891.826087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.232659;
duration = 423;
initialDepth = 892.381786;
finalDepth = 891.826087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  891.826087 
#   Seafloor depth:           -941.826087
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762290 meters
#   Minimum depth: 942.381786 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.229581 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.381786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130695;
longitude = -116.232304;
duration = 423;
initialDepth = 890.343705;
finalDepth = 892.381786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.847795
#   Actual altitude:          52.847795
#   Commanded vehicle depth:  892.381786 
#   Seafloor depth:           -945.229581
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762383 meters
#   Minimum depth: 940.343705 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.067781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.343705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.231948;
duration = 423;
initialDepth = 887.769571;
finalDepth = 890.343705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.724076
#   Actual altitude:          53.724076
#   Commanded vehicle depth:  890.343705 
#   Seafloor depth:           -944.067781
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762476 meters
#   Minimum depth: 937.769571 meters looking forward 100.000000 meters along route
#   Maximum depth: 943.783504 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.769571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128890;
longitude = -116.231593;
duration = 423;
initialDepth = 880.684768;
finalDepth = 887.769571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.013933
#   Actual altitude:          56.013933
#   Commanded vehicle depth:  887.769571 
#   Seafloor depth:           -943.783504
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762568 meters
#   Minimum depth: 930.684768 meters looking forward 100.000000 meters along route
#   Maximum depth: 938.377492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.684768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127988;
longitude = -116.231238;
duration = 423;
initialDepth = 883.003831;
finalDepth = 880.684768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.692724
#   Actual altitude:          57.692724
#   Commanded vehicle depth:  880.684768 
#   Seafloor depth:           -938.377492
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762661 meters
#   Minimum depth: 933.003831 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.523899 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 883.003831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127086;
longitude = -116.230882;
duration = 423;
initialDepth = 888.923404;
finalDepth = 883.003831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.692724
#   Actual altitude:          57.692724
#   Commanded vehicle depth:  883.003831 
#   Seafloor depth:           -933.003831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762754 meters
#   Minimum depth: 938.923404 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.078261 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.923404 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126184;
longitude = -116.230527;
duration = 423;
initialDepth = 899.211731;
finalDepth = 888.923404;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  888.923404 
#   Seafloor depth:           -938.923404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762847 meters
#   Minimum depth: 949.211731 meters looking forward 100.000000 meters along route
#   Maximum depth: 955.320100 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.211731 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125282;
longitude = -116.230172;
duration = 423;
initialDepth = 906.632375;
finalDepth = 899.211731;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  899.211731 
#   Seafloor depth:           -949.211731
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.762939 meters
#   Minimum depth: 956.632375 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.028204 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 906.632375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124380;
longitude = -116.229817;
duration = 423;
initialDepth = 913.710501;
finalDepth = 906.632375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4336969999999
#   Actual altitude:          50.4336969999999
#   Commanded vehicle depth:  906.632375 
#   Seafloor depth:           -957.066072
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.763032 meters
#   Minimum depth: 963.710501 meters looking forward 100.000000 meters along route
#   Maximum depth: 971.799843 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 913.710501 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123478;
longitude = -116.229461;
duration = 423;
initialDepth = 922.375846;
finalDepth = 913.710501;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4336969999999
#   Actual altitude:          50.4336969999999
#   Commanded vehicle depth:  913.710501 
#   Seafloor depth:           -963.710501
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.763125 meters
#   Minimum depth: 972.375846 meters looking forward 100.000000 meters along route
#   Maximum depth: 975.099282 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 922.375846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122576;
longitude = -116.229106;
duration = 423;
initialDepth = 921.422486;
finalDepth = 922.375846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  922.375846 
#   Seafloor depth:           -972.375846
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.763218 meters
#   Minimum depth: 971.422486 meters looking forward 100.000000 meters along route
#   Maximum depth: 975.649481 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 921.422486 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121673;
longitude = -116.228751;
duration = 423;
initialDepth = 900.198186;
finalDepth = 921.422486;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.727903
#   Actual altitude:          51.727903
#   Commanded vehicle depth:  921.422486 
#   Seafloor depth:           -973.150389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 105.763310 meters
#   Minimum depth: 950.198186 meters looking forward 100.000000 meters along route
#   Maximum depth: 963.431570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.198186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120771;
longitude = -116.228396;
duration = 423;
initialDepth = 886.122745;
finalDepth = 900.198186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.233384
#   Actual altitude:          63.233384
#   Commanded vehicle depth:  900.198186 
#   Seafloor depth:           -963.431570
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 114.577025 meters
#   Minimum depth: 936.122745 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.149175 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.122745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119869;
longitude = -116.228040;
duration = 458;
initialDepth = 884.614358;
finalDepth = 886.122745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.233384
#   Actual altitude:          63.233384
#   Commanded vehicle depth:  886.122745 
#   Seafloor depth:           -949.149175
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 44
#   Segment length 96.802925 meters
#   Minimum depth: 934.614358 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.077529 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.614358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118892;
longitude = -116.227656;
duration = 387;
# abortOnTimeout    = True; 
initialDepth = 890.953465;
finalDepth = 884.614358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.02643
#   Actual altitude:          63.02643
#   Commanded vehicle depth:  884.614358 
#   Seafloor depth:           -936.479085
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.603436 meters
#   Minimum depth: 940.953465 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.344669 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.953465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118619;
longitude = -116.228601;
duration = 422;
initialDepth = 897.232336;
finalDepth = 890.953465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.864727
#   Actual altitude:          51.864727
#   Commanded vehicle depth:  890.953465 
#   Seafloor depth:           -941.939954
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.603689 meters
#   Minimum depth: 947.232336 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.217965 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.232336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118322;
longitude = -116.229632;
duration = 422;
initialDepth = 898.499173;
finalDepth = 897.232336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9864889999999
#   Actual altitude:          50.9864889999999
#   Commanded vehicle depth:  897.232336 
#   Seafloor depth:           -947.232336
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.603943 meters
#   Minimum depth: 948.499173 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.112500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.499173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118025;
longitude = -116.230663;
duration = 422;
initialDepth = 900.094524;
finalDepth = 898.499173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.113878
#   Actual altitude:          50.113878
#   Commanded vehicle depth:  898.499173 
#   Seafloor depth:           -948.613051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.604197 meters
#   Minimum depth: 950.094524 meters looking forward 100.000000 meters along route
#   Maximum depth: 951.938645 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.094524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.117728;
longitude = -116.231695;
duration = 422;
initialDepth = 899.115810;
finalDepth = 900.094524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.760179
#   Actual altitude:          50.760179
#   Commanded vehicle depth:  900.094524 
#   Seafloor depth:           -950.854703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.604452 meters
#   Minimum depth: 949.115810 meters looking forward 100.000000 meters along route
#   Maximum depth: 953.235294 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.115810 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.117431;
longitude = -116.232726;
duration = 422;
initialDepth = 895.115213;
finalDepth = 899.115810;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.504549
#   Actual altitude:          51.504549
#   Commanded vehicle depth:  899.11581 
#   Seafloor depth:           -950.620359
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 123.205514 meters
#   Minimum depth: 945.115213 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.198805 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.115213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.117134;
longitude = -116.233757;
duration = 492;
initialDepth = 895.861979;
finalDepth = 895.115213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.680249
#   Actual altitude:          52.680249
#   Commanded vehicle depth:  895.115213 
#   Seafloor depth:           -947.795462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 43
#   Segment length 151.172116 meters
#   Minimum depth: 945.861979 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.013538 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.861979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.116787;
longitude = -116.234960;
duration = 604;
# abortOnTimeout    = True; 
initialDepth = 898.250499;
finalDepth = 895.861979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.680249
#   Actual altitude:          52.680249
#   Commanded vehicle depth:  895.861979 
#   Seafloor depth:           -945.861979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.709597 meters
#   Minimum depth: 948.250499 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.822344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.250499 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118065;
longitude = -116.235504;
duration = 426;
initialDepth = 901.629607;
finalDepth = 898.250499;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  898.250499 
#   Seafloor depth:           -948.250499
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.709488 meters
#   Minimum depth: 951.629607 meters looking forward 100.000000 meters along route
#   Maximum depth: 953.312999 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.629607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118967;
longitude = -116.235888;
duration = 426;
initialDepth = 899.389740;
finalDepth = 901.629607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.47247
#   Actual altitude:          50.47247
#   Commanded vehicle depth:  901.629607 
#   Seafloor depth:           -952.102077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.709379 meters
#   Minimum depth: 949.389740 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.192857 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.389740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119869;
longitude = -116.236272;
duration = 426;
initialDepth = 893.183573;
finalDepth = 899.389740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7810880000001
#   Actual altitude:          50.7810880000001
#   Commanded vehicle depth:  899.38974 
#   Seafloor depth:           -950.170828
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.709270 meters
#   Minimum depth: 943.183573 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.952959 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.183573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120771;
longitude = -116.236656;
duration = 426;
initialDepth = 892.400056;
finalDepth = 893.183573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7693859999999
#   Actual altitude:          55.7693859999999
#   Commanded vehicle depth:  893.183573 
#   Seafloor depth:           -948.952959
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.709161 meters
#   Minimum depth: 942.400056 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.362284 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.400056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121673;
longitude = -116.237040;
duration = 426;
initialDepth = 890.695003;
finalDepth = 892.400056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7693859999999
#   Actual altitude:          55.7693859999999
#   Commanded vehicle depth:  892.400056 
#   Seafloor depth:           -945.362284
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.709052 meters
#   Minimum depth: 940.695003 meters looking forward 100.000000 meters along route
#   Maximum depth: 943.743638 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.695003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122576;
longitude = -116.237424;
duration = 426;
initialDepth = 895.924197;
finalDepth = 890.695003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9622280000001
#   Actual altitude:          52.9622280000001
#   Commanded vehicle depth:  890.695003 
#   Seafloor depth:           -942.236128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708943 meters
#   Minimum depth: 945.924197 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.878069 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.924197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123478;
longitude = -116.237808;
duration = 426;
initialDepth = 897.353700;
finalDepth = 895.924197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.541125
#   Actual altitude:          51.541125
#   Commanded vehicle depth:  895.924197 
#   Seafloor depth:           -945.924197
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708834 meters
#   Minimum depth: 947.353700 meters looking forward 100.000000 meters along route
#   Maximum depth: 951.947881 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.353700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124380;
longitude = -116.238192;
duration = 426;
initialDepth = 887.408167;
finalDepth = 897.353700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.594181
#   Actual altitude:          54.594181
#   Commanded vehicle depth:  897.3537 
#   Seafloor depth:           -951.947881
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708725 meters
#   Minimum depth: 937.408167 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.852560 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.408167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125282;
longitude = -116.238576;
duration = 426;
initialDepth = 887.166639;
finalDepth = 887.408167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.444393
#   Actual altitude:          57.444393
#   Commanded vehicle depth:  887.408167 
#   Seafloor depth:           -944.852560
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708616 meters
#   Minimum depth: 937.166639 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.322640 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.166639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126184;
longitude = -116.238960;
duration = 426;
initialDepth = 887.896123;
finalDepth = 887.166639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.444393
#   Actual altitude:          57.444393
#   Commanded vehicle depth:  887.166639 
#   Seafloor depth:           -939.322640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708508 meters
#   Minimum depth: 937.896123 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.164229 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.896123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127086;
longitude = -116.239344;
duration = 426;
initialDepth = 890.531084;
finalDepth = 887.896123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1560009999999
#   Actual altitude:          52.1560009999999
#   Commanded vehicle depth:  887.896123 
#   Seafloor depth:           -937.896123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708398 meters
#   Minimum depth: 940.531084 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.631456 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.531084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127988;
longitude = -116.239728;
duration = 426;
initialDepth = 874.252152;
finalDepth = 890.531084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0130670000001
#   Actual altitude:          50.0130670000001
#   Commanded vehicle depth:  890.531084 
#   Seafloor depth:           -940.544151
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708290 meters
#   Minimum depth: 924.252152 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.795715 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.252152 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128890;
longitude = -116.240112;
duration = 426;
initialDepth = 871.499148;
finalDepth = 874.252152;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.5435629999999
#   Actual altitude:          62.5435629999999
#   Commanded vehicle depth:  874.252152 
#   Seafloor depth:           -936.795715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708180 meters
#   Minimum depth: 921.499148 meters looking forward 100.000000 meters along route
#   Maximum depth: 922.857857 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.499148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.240496;
duration = 426;
initialDepth = 866.787915;
finalDepth = 871.499148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.5435629999999
#   Actual altitude:          62.5435629999999
#   Commanded vehicle depth:  871.499148 
#   Seafloor depth:           -922.857857
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.708071 meters
#   Minimum depth: 916.787915 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.897939 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 866.787915 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130695;
longitude = -116.240880;
duration = 426;
initialDepth = 862.712600;
finalDepth = 866.787915;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.110024
#   Actual altitude:          55.110024
#   Commanded vehicle depth:  866.787915 
#   Seafloor depth:           -921.897939
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.707963 meters
#   Minimum depth: 912.712600 meters looking forward 100.000000 meters along route
#   Maximum depth: 919.761303 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.712600 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.241264;
duration = 426;
initialDepth = 856.386829;
finalDepth = 862.712600;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.048703
#   Actual altitude:          57.048703
#   Commanded vehicle depth:  862.7126 
#   Seafloor depth:           -919.761303
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.707854 meters
#   Minimum depth: 906.386829 meters looking forward 100.000000 meters along route
#   Maximum depth: 912.804023 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 856.386829 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132499;
longitude = -116.241648;
duration = 426;
initialDepth = 855.408411;
finalDepth = 856.386829;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.048703
#   Actual altitude:          57.048703
#   Commanded vehicle depth:  856.386829 
#   Seafloor depth:           -912.804023
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.707744 meters
#   Minimum depth: 905.408411 meters looking forward 100.000000 meters along route
#   Maximum depth: 908.377992 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 855.408411 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133401;
longitude = -116.242032;
duration = 426;
initialDepth = 850.585035;
finalDepth = 855.408411;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.417194
#   Actual altitude:          56.417194
#   Commanded vehicle depth:  855.408411 
#   Seafloor depth:           -906.560320
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.707636 meters
#   Minimum depth: 900.585035 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.383311 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 850.585035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134303;
longitude = -116.242416;
duration = 426;
initialDepth = 846.949538;
finalDepth = 850.585035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.729689
#   Actual altitude:          53.729689
#   Commanded vehicle depth:  850.585035 
#   Seafloor depth:           -904.314724
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.707527 meters
#   Minimum depth: 896.949538 meters looking forward 100.000000 meters along route
#   Maximum depth: 900.800420 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 846.949538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135205;
longitude = -116.242800;
duration = 426;
initialDepth = 842.900670;
finalDepth = 846.949538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7741990000001
#   Actual altitude:          53.7741990000001
#   Commanded vehicle depth:  846.949538 
#   Seafloor depth:           -900.723737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.707418 meters
#   Minimum depth: 892.900670 meters looking forward 100.000000 meters along route
#   Maximum depth: 897.731799 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 842.900670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136107;
longitude = -116.243184;
duration = 426;
initialDepth = 838.127161;
finalDepth = 842.900670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.831129
#   Actual altitude:          54.831129
#   Commanded vehicle depth:  842.90067 
#   Seafloor depth:           -897.731799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 115.599580 meters
#   Minimum depth: 888.127161 meters looking forward 100.000000 meters along route
#   Maximum depth: 892.774850 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.127161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137009;
longitude = -116.243568;
duration = 462;
initialDepth = 826.556528;
finalDepth = 838.127161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.831129
#   Actual altitude:          54.831129
#   Commanded vehicle depth:  838.127161 
#   Seafloor depth:           -892.774850
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 42
#   Segment length 149.410497 meters
#   Minimum depth: 876.556528 meters looking forward 100.000000 meters along route
#   Maximum depth: 889.928548 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.556528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137987;
longitude = -116.243984;
duration = 597;
# abortOnTimeout    = True; 
initialDepth = 824.631472;
finalDepth = 826.556528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.37202
#   Actual altitude:          63.37202
#   Commanded vehicle depth:  826.556528 
#   Seafloor depth:           -889.928548
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.465929 meters
#   Minimum depth: 874.631472 meters looking forward 100.000000 meters along route
#   Maximum depth: 877.414099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 824.631472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138403;
longitude = -116.242523;
duration = 421;
initialDepth = 819.011507;
finalDepth = 824.631472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.37202
#   Actual altitude:          63.37202
#   Commanded vehicle depth:  824.631472 
#   Seafloor depth:           -877.414099
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.465678 meters
#   Minimum depth: 869.011507 meters looking forward 100.000000 meters along route
#   Maximum depth: 873.784151 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 819.011507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138697;
longitude = -116.241492;
duration = 421;
initialDepth = 810.055055;
finalDepth = 819.011507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7726439999999
#   Actual altitude:          54.7726439999999
#   Commanded vehicle depth:  819.011507 
#   Seafloor depth:           -873.784151
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.465426 meters
#   Minimum depth: 860.055055 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.794701 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 810.055055 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138990;
longitude = -116.240461;
duration = 421;
initialDepth = 802.988955;
finalDepth = 810.055055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.2182919999999
#   Actual altitude:          56.2182919999999
#   Commanded vehicle depth:  810.055055 
#   Seafloor depth:           -866.273347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.465175 meters
#   Minimum depth: 852.988955 meters looking forward 100.000000 meters along route
#   Maximum depth: 859.875599 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 802.988955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139284;
longitude = -116.239429;
duration = 421;
initialDepth = 796.728638;
finalDepth = 802.988955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8866439999999
#   Actual altitude:          56.8866439999999
#   Commanded vehicle depth:  802.988955 
#   Seafloor depth:           -859.875599
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.464923 meters
#   Minimum depth: 846.728638 meters looking forward 100.000000 meters along route
#   Maximum depth: 851.177265 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.728638 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139578;
longitude = -116.238398;
duration = 421;
initialDepth = 799.799405;
finalDepth = 796.728638;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8866439999999
#   Actual altitude:          56.8866439999999
#   Commanded vehicle depth:  796.728638 
#   Seafloor depth:           -851.177265
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 106.092437 meters
#   Minimum depth: 849.799405 meters looking forward 100.000000 meters along route
#   Maximum depth: 864.019188 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 799.799405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139871;
longitude = -116.237367;
duration = 424;
initialDepth = 814.137880;
finalDepth = 799.799405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.448627
#   Actual altitude:          54.448627
#   Commanded vehicle depth:  799.799405 
#   Seafloor depth:           -849.799405
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 104.836654 meters
#   Minimum depth: 864.137880 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.191486 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.137880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140167;
longitude = -116.236329;
duration = 419;
initialDepth = 816.629215;
finalDepth = 814.137880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  814.13788 
#   Seafloor depth:           -864.137880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.464169 meters
#   Minimum depth: 866.629215 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.496474 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 816.629215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140459;
longitude = -116.235304;
duration = 421;
initialDepth = 819.442911;
finalDepth = 816.629215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.279738
#   Actual altitude:          51.279738
#   Commanded vehicle depth:  816.629215 
#   Seafloor depth:           -867.908953
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.463917 meters
#   Minimum depth: 869.442911 meters looking forward 100.000000 meters along route
#   Maximum depth: 879.235439 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 819.442911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140753;
longitude = -116.234273;
duration = 421;
initialDepth = 834.014877;
finalDepth = 819.442911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.279738
#   Actual altitude:          51.279738
#   Commanded vehicle depth:  819.442911 
#   Seafloor depth:           -869.442911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.463665 meters
#   Minimum depth: 884.014877 meters looking forward 100.000000 meters along route
#   Maximum depth: 902.120277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.014877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141046;
longitude = -116.233242;
duration = 421;
initialDepth = 853.214170;
finalDepth = 834.014877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  834.014877 
#   Seafloor depth:           -884.014877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.463414 meters
#   Minimum depth: 903.214170 meters looking forward 100.000000 meters along route
#   Maximum depth: 906.852654 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 853.214170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141340;
longitude = -116.232210;
duration = 421;
initialDepth = 846.644028;
finalDepth = 853.214170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  853.21417 
#   Seafloor depth:           -903.214170
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.463163 meters
#   Minimum depth: 896.644028 meters looking forward 100.000000 meters along route
#   Maximum depth: 907.187959 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 846.644028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141634;
longitude = -116.231179;
duration = 421;
initialDepth = 836.581008;
finalDepth = 846.644028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.5439309999999
#   Actual altitude:          60.5439309999999
#   Commanded vehicle depth:  846.644028 
#   Seafloor depth:           -907.187959
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.462911 meters
#   Minimum depth: 886.581008 meters looking forward 100.000000 meters along route
#   Maximum depth: 890.600502 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 836.581008 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141927;
longitude = -116.230148;
duration = 421;
initialDepth = 840.056593;
finalDepth = 836.581008;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.5439309999999
#   Actual altitude:          60.5439309999999
#   Commanded vehicle depth:  836.581008 
#   Seafloor depth:           -890.600502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.462660 meters
#   Minimum depth: 890.056593 meters looking forward 100.000000 meters along route
#   Maximum depth: 903.009779 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 840.056593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142221;
longitude = -116.229117;
duration = 421;
initialDepth = 861.305495;
finalDepth = 840.056593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.019494
#   Actual altitude:          54.019494
#   Commanded vehicle depth:  840.056593 
#   Seafloor depth:           -890.056593
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.462409 meters
#   Minimum depth: 911.305495 meters looking forward 100.000000 meters along route
#   Maximum depth: 920.210859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 861.305495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142515;
longitude = -116.228085;
duration = 421;
initialDepth = 872.488371;
finalDepth = 861.305495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  861.305495 
#   Seafloor depth:           -911.305495
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.462157 meters
#   Minimum depth: 922.488371 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.077801 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.488371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142809;
longitude = -116.227054;
duration = 421;
initialDepth = 878.493395;
finalDepth = 872.488371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  872.488371 
#   Seafloor depth:           -922.488371
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.461906 meters
#   Minimum depth: 928.493395 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.020543 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 878.493395 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.143102;
longitude = -116.226023;
duration = 421;
initialDepth = 882.231217;
finalDepth = 878.493395;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  878.493395 
#   Seafloor depth:           -928.493395
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.461655 meters
#   Minimum depth: 932.231217 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.223405 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.231217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.143396;
longitude = -116.224991;
duration = 421;
initialDepth = 890.359447;
finalDepth = 882.231217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  882.231217 
#   Seafloor depth:           -932.231217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 111.738860 meters
#   Minimum depth: 940.359447 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.331427 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.359447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.143690;
longitude = -116.223960;
duration = 446;
initialDepth = 898.558800;
finalDepth = 890.359447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  890.359447 
#   Seafloor depth:           -940.359447
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 107.972114 meters
#   Minimum depth: 948.558800 meters looking forward 100.000000 meters along route
#   Maximum depth: 971.563983 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.558800 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.144001;
longitude = -116.222867;
duration = 431;
initialDepth = 916.197489;
finalDepth = 898.558800;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  898.5588 
#   Seafloor depth:           -948.558800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 41
#   Segment length 143.651641 meters
#   Minimum depth: 966.197489 meters looking forward 100.000000 meters along route
#   Maximum depth: 970.213786 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.197489 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.144302;
longitude = -116.221812;
duration = 574;
# abortOnTimeout    = True; 
initialDepth = 905.157464;
finalDepth = 916.197489;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.016297
#   Actual altitude:          54.016297
#   Commanded vehicle depth:  916.197489 
#   Seafloor depth:           -970.213786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.738878 meters
#   Minimum depth: 955.157464 meters looking forward 100.000000 meters along route
#   Maximum depth: 963.935771 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 905.157464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.143099;
longitude = -116.221261;
duration = 430;
initialDepth = 902.722079;
finalDepth = 905.157464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.778307
#   Actual altitude:          58.778307
#   Commanded vehicle depth:  905.157464 
#   Seafloor depth:           -963.935771
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.739005 meters
#   Minimum depth: 952.722079 meters looking forward 100.000000 meters along route
#   Maximum depth: 955.448986 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 902.722079 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142197;
longitude = -116.220847;
duration = 430;
initialDepth = 903.052231;
finalDepth = 902.722079;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.778307
#   Actual altitude:          58.778307
#   Commanded vehicle depth:  902.722079 
#   Seafloor depth:           -955.448986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.739132 meters
#   Minimum depth: 953.052231 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.211991 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 903.052231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141295;
longitude = -116.220434;
duration = 430;
initialDepth = 904.967440;
finalDepth = 903.052231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.726907
#   Actual altitude:          52.726907
#   Commanded vehicle depth:  903.052231 
#   Seafloor depth:           -953.559951
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.739259 meters
#   Minimum depth: 954.967440 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.488942 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 904.967440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140392;
longitude = -116.220021;
duration = 430;
initialDepth = 892.893892;
finalDepth = 904.967440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.148452
#   Actual altitude:          55.148452
#   Commanded vehicle depth:  904.96744 
#   Seafloor depth:           -960.115892
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.739385 meters
#   Minimum depth: 942.893892 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.277709 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.893892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139490;
longitude = -116.219607;
duration = 430;
initialDepth = 874.839435;
finalDepth = 892.893892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.3838169999999
#   Actual altitude:          59.3838169999999
#   Commanded vehicle depth:  892.893892 
#   Seafloor depth:           -952.277709
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.739513 meters
#   Minimum depth: 924.839435 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.733535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.839435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138588;
longitude = -116.219194;
duration = 430;
initialDepth = 863.850267;
finalDepth = 874.839435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.8941
#   Actual altitude:          62.8941
#   Commanded vehicle depth:  874.839435 
#   Seafloor depth:           -937.733535
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.739639 meters
#   Minimum depth: 913.850267 meters looking forward 100.000000 meters along route
#   Maximum depth: 923.794176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.850267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137686;
longitude = -116.218781;
duration = 430;
initialDepth = 844.448474;
finalDepth = 863.850267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.8941
#   Actual altitude:          62.8941
#   Commanded vehicle depth:  863.850267 
#   Seafloor depth:           -923.794176
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.739766 meters
#   Minimum depth: 894.448474 meters looking forward 100.000000 meters along route
#   Maximum depth: 915.777948 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.448474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136784;
longitude = -116.218367;
duration = 430;
initialDepth = 818.683411;
finalDepth = 844.448474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.329474
#   Actual altitude:          71.329474
#   Commanded vehicle depth:  844.448474 
#   Seafloor depth:           -915.777948
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 114.539016 meters
#   Minimum depth: 868.683411 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.618138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.683411 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135882;
longitude = -116.217954;
duration = 458;
initialDepth = 794.894850;
finalDepth = 818.683411;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.329474
#   Actual altitude:          71.329474
#   Commanded vehicle depth:  818.683411 
#   Seafloor depth:           -888.618138
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.940896 meters
#   Minimum depth: 844.894850 meters looking forward 100.000000 meters along route
#   Maximum depth: 866.623581 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 794.894850 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134923;
longitude = -116.217515;
duration = 403;
initialDepth = 780.856775;
finalDepth = 794.894850;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.7287309999999
#   Actual altitude:          71.7287309999999
#   Commanded vehicle depth:  794.89485 
#   Seafloor depth:           -866.623581
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.740146 meters
#   Minimum depth: 830.856775 meters looking forward 100.000000 meters along route
#   Maximum depth: 839.941235 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 780.856775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134078;
longitude = -116.217127;
duration = 430;
initialDepth = 780.762493;
finalDepth = 780.856775;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.7287309999999
#   Actual altitude:          71.7287309999999
#   Commanded vehicle depth:  780.856775 
#   Seafloor depth:           -839.941235
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.740273 meters
#   Minimum depth: 830.762493 meters looking forward 100.000000 meters along route
#   Maximum depth: 833.026470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 780.762493 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133175;
longitude = -116.216714;
duration = 430;
initialDepth = 782.190353;
finalDepth = 780.762493;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.08446
#   Actual altitude:          59.08446
#   Commanded vehicle depth:  780.762493 
#   Seafloor depth:           -830.762493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.740400 meters
#   Minimum depth: 832.190353 meters looking forward 100.000000 meters along route
#   Maximum depth: 834.839440 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 782.190353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132273;
longitude = -116.216301;
duration = 430;
initialDepth = 785.147039;
finalDepth = 782.190353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  782.190353 
#   Seafloor depth:           -832.190353
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 113.493665 meters
#   Minimum depth: 835.147039 meters looking forward 100.000000 meters along route
#   Maximum depth: 839.592898 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 785.147039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131371;
longitude = -116.215887;
duration = 453;
initialDepth = 786.520297;
finalDepth = 785.147039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8376350000001
#   Actual altitude:          50.8376350000001
#   Commanded vehicle depth:  785.147039 
#   Seafloor depth:           -835.984674
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.987515 meters
#   Minimum depth: 836.520297 meters looking forward 100.000000 meters along route
#   Maximum depth: 839.754287 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 786.520297 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130421;
longitude = -116.215452;
duration = 407;
initialDepth = 788.372889;
finalDepth = 786.520297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8376350000001
#   Actual altitude:          50.8376350000001
#   Commanded vehicle depth:  786.520297 
#   Seafloor depth:           -836.520297
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.740780 meters
#   Minimum depth: 838.372889 meters looking forward 100.000000 meters along route
#   Maximum depth: 839.534081 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 788.372889 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129567;
longitude = -116.215061;
duration = 430;
initialDepth = 789.547973;
finalDepth = 788.372889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.932736
#   Actual altitude:          50.932736
#   Commanded vehicle depth:  788.372889 
#   Seafloor depth:           -839.305625
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.740907 meters
#   Minimum depth: 839.547973 meters looking forward 100.000000 meters along route
#   Maximum depth: 844.512124 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 789.547973 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128665;
longitude = -116.214647;
duration = 430;
initialDepth = 785.836052;
finalDepth = 789.547973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.932736
#   Actual altitude:          50.932736
#   Commanded vehicle depth:  789.547973 
#   Seafloor depth:           -839.547973
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.741034 meters
#   Minimum depth: 835.836052 meters looking forward 100.000000 meters along route
#   Maximum depth: 842.677470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 785.836052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127763;
longitude = -116.214234;
duration = 430;
initialDepth = 776.545323;
finalDepth = 785.836052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.841418
#   Actual altitude:          56.841418
#   Commanded vehicle depth:  785.836052 
#   Seafloor depth:           -842.677470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 112.448302 meters
#   Minimum depth: 826.545323 meters looking forward 100.000000 meters along route
#   Maximum depth: 838.527827 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 776.545323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126861;
longitude = -116.213821;
duration = 449;
initialDepth = 772.744522;
finalDepth = 776.545323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.9825039999999
#   Actual altitude:          61.9825039999999
#   Commanded vehicle depth:  776.545323 
#   Seafloor depth:           -838.527827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 112.012593 meters
#   Minimum depth: 822.744522 meters looking forward 100.000000 meters along route
#   Maximum depth: 826.424522 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 772.744522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125919;
longitude = -116.213389;
duration = 448;
initialDepth = 774.104980;
finalDepth = 772.744522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.9825039999999
#   Actual altitude:          61.9825039999999
#   Commanded vehicle depth:  772.744522 
#   Seafloor depth:           -826.424522
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 40
#   Segment length 150.594742 meters
#   Minimum depth: 824.104980 meters looking forward 100.000000 meters along route
#   Maximum depth: 839.516245 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 774.104980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124981;
longitude = -116.212960;
duration = 602;
# abortOnTimeout    = True; 
initialDepth = 788.100362;
finalDepth = 774.104980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6800000000001
#   Actual altitude:          53.6800000000001
#   Commanded vehicle depth:  774.10498 
#   Seafloor depth:           -824.104980
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.302498 meters
#   Minimum depth: 838.100362 meters looking forward 100.000000 meters along route
#   Maximum depth: 847.590928 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 788.100362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124532;
longitude = -116.214421;
duration = 425;
initialDepth = 804.357249;
finalDepth = 788.100362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  788.100362 
#   Seafloor depth:           -838.100362
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.302767 meters
#   Minimum depth: 854.357249 meters looking forward 100.000000 meters along route
#   Maximum depth: 860.746922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.357249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124215;
longitude = -116.215452;
duration = 425;
initialDepth = 803.802764;
finalDepth = 804.357249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  804.357249 
#   Seafloor depth:           -854.357249
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.303037 meters
#   Minimum depth: 853.802764 meters looking forward 100.000000 meters along route
#   Maximum depth: 857.799118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.802764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123898;
longitude = -116.216483;
duration = 425;
initialDepth = 800.049683;
finalDepth = 803.802764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.567365
#   Actual altitude:          52.567365
#   Commanded vehicle depth:  803.802764 
#   Seafloor depth:           -856.370129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 110.391901 meters
#   Minimum depth: 850.049683 meters looking forward 100.000000 meters along route
#   Maximum depth: 852.974084 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 800.049683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123581;
longitude = -116.217515;
duration = 441;
initialDepth = 799.015404;
finalDepth = 800.049683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7940900000001
#   Actual altitude:          52.7940900000001
#   Commanded vehicle depth:  800.049683 
#   Seafloor depth:           -852.843773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.214982 meters
#   Minimum depth: 849.015404 meters looking forward 100.000000 meters along route
#   Maximum depth: 852.469956 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 799.015404 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123252;
longitude = -116.218586;
duration = 408;
initialDepth = 802.974796;
finalDepth = 799.015404;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7940900000001
#   Actual altitude:          52.7940900000001
#   Commanded vehicle depth:  799.015404 
#   Seafloor depth:           -849.507850
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.303846 meters
#   Minimum depth: 852.974796 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.534599 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 802.974796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122947;
longitude = -116.219577;
duration = 425;
initialDepth = 812.392167;
finalDepth = 802.974796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.492446
#   Actual altitude:          50.492446
#   Commanded vehicle depth:  802.974796 
#   Seafloor depth:           -852.974796
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.304117 meters
#   Minimum depth: 862.392167 meters looking forward 100.000000 meters along route
#   Maximum depth: 870.141869 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.392167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122630;
longitude = -116.220608;
duration = 425;
initialDepth = 820.944915;
finalDepth = 812.392167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  812.392167 
#   Seafloor depth:           -862.392167
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.304386 meters
#   Minimum depth: 870.944915 meters looking forward 100.000000 meters along route
#   Maximum depth: 880.198011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 820.944915 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122313;
longitude = -116.221640;
duration = 425;
initialDepth = 832.289455;
finalDepth = 820.944915;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  820.944915 
#   Seafloor depth:           -870.944915
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 108.348979 meters
#   Minimum depth: 882.289455 meters looking forward 100.000000 meters along route
#   Maximum depth: 896.356635 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 832.289455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121996;
longitude = -116.222671;
duration = 433;
initialDepth = 846.698909;
finalDepth = 832.289455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  832.289455 
#   Seafloor depth:           -882.289455
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 104.260604 meters
#   Minimum depth: 896.698909 meters looking forward 100.000000 meters along route
#   Maximum depth: 907.770632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 846.698909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121673;
longitude = -116.223722;
duration = 417;
initialDepth = 861.718824;
finalDepth = 846.698909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  846.698909 
#   Seafloor depth:           -896.698909
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.305196 meters
#   Minimum depth: 911.718824 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.117997 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 861.718824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121363;
longitude = -116.224734;
duration = 425;
initialDepth = 873.161634;
finalDepth = 861.718824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  861.718824 
#   Seafloor depth:           -911.718824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.305466 meters
#   Minimum depth: 923.161634 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.734755 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.161634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121046;
longitude = -116.225765;
duration = 425;
initialDepth = 886.663182;
finalDepth = 873.161634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  873.161634 
#   Seafloor depth:           -923.161634
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.305736 meters
#   Minimum depth: 936.663182 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.542218 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.663182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120729;
longitude = -116.226796;
duration = 425;
initialDepth = 900.541233;
finalDepth = 886.663182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  886.663182 
#   Seafloor depth:           -936.663182
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.306007 meters
#   Minimum depth: 950.541233 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.866788 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.541233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120412;
longitude = -116.227827;
duration = 425;
initialDepth = 914.128108;
finalDepth = 900.541233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  900.541233 
#   Seafloor depth:           -950.541233
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.306276 meters
#   Minimum depth: 964.128108 meters looking forward 100.000000 meters along route
#   Maximum depth: 969.239167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 914.128108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120095;
longitude = -116.228859;
duration = 425;
initialDepth = 902.282946;
finalDepth = 914.128108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.634954
#   Actual altitude:          51.634954
#   Commanded vehicle depth:  914.128108 
#   Seafloor depth:           -965.763062
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.306546 meters
#   Minimum depth: 952.282946 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.414556 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 902.282946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119778;
longitude = -116.229890;
duration = 425;
initialDepth = 898.035219;
finalDepth = 902.282946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1316099999999
#   Actual altitude:          60.1316099999999
#   Commanded vehicle depth:  902.282946 
#   Seafloor depth:           -962.414556
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.306817 meters
#   Minimum depth: 948.035219 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.773487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.035219 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119461;
longitude = -116.230921;
duration = 425;
initialDepth = 898.465682;
finalDepth = 898.035219;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1316099999999
#   Actual altitude:          60.1316099999999
#   Commanded vehicle depth:  898.035219 
#   Seafloor depth:           -950.773487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.307087 meters
#   Minimum depth: 948.465682 meters looking forward 100.000000 meters along route
#   Maximum depth: 953.000422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.465682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119144;
longitude = -116.231953;
duration = 425;
initialDepth = 900.856280;
finalDepth = 898.465682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7382680000001
#   Actual altitude:          52.7382680000001
#   Commanded vehicle depth:  898.465682 
#   Seafloor depth:           -948.465682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 106.307357 meters
#   Minimum depth: 950.856280 meters looking forward 100.000000 meters along route
#   Maximum depth: 957.337416 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.856280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118827;
longitude = -116.232984;
duration = 425;
initialDepth = 896.355294;
finalDepth = 900.856280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3935720000001
#   Actual altitude:          51.3935720000001
#   Commanded vehicle depth:  900.85628 
#   Seafloor depth:           -952.249852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 124.025591 meters
#   Minimum depth: 946.355294 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.782128 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 896.355294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118510;
longitude = -116.234015;
duration = 496;
initialDepth = 897.858561;
finalDepth = 896.355294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.426834
#   Actual altitude:          56.426834
#   Commanded vehicle depth:  896.355294 
#   Seafloor depth:           -952.782128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 177.596436 meters
#   Minimum depth: 947.858561 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.125200 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.858561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.118140;
longitude = -116.235218;
duration = 710;
# abortOnTimeout    = True; 
initialDepth = 898.902802;
finalDepth = 897.858561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.426834
#   Actual altitude:          56.426834
#   Commanded vehicle depth:  897.858561 
#   Seafloor depth:           -947.858561
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.557720 meters
#   Minimum depth: 948.902802 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.957188 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.902802 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119644;
longitude = -116.235851;
duration = 426;
initialDepth = 895.165153;
finalDepth = 898.902802;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.054386
#   Actual altitude:          52.054386
#   Commanded vehicle depth:  898.902802 
#   Seafloor depth:           -950.957188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.557613 meters
#   Minimum depth: 945.165153 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.349500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.165153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120546;
longitude = -116.236230;
duration = 426;
initialDepth = 892.931375;
finalDepth = 895.165153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.488972
#   Actual altitude:          53.488972
#   Commanded vehicle depth:  895.165153 
#   Seafloor depth:           -948.654125
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.557507 meters
#   Minimum depth: 942.931375 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.584444 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.931375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121448;
longitude = -116.236610;
duration = 426;
initialDepth = 890.942813;
finalDepth = 892.931375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.488972
#   Actual altitude:          53.488972
#   Commanded vehicle depth:  892.931375 
#   Seafloor depth:           -944.584444
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.557401 meters
#   Minimum depth: 940.942813 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.226517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.942813 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122350;
longitude = -116.236989;
duration = 426;
initialDepth = 893.806959;
finalDepth = 890.942813;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.92419
#   Actual altitude:          54.92419
#   Commanded vehicle depth:  890.942813 
#   Seafloor depth:           -945.867003
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.557294 meters
#   Minimum depth: 943.806959 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.558525 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.806959 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123252;
longitude = -116.237369;
duration = 426;
initialDepth = 899.475187;
finalDepth = 893.806959;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.92419
#   Actual altitude:          54.92419
#   Commanded vehicle depth:  893.806959 
#   Seafloor depth:           -947.368207
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 110.031877 meters
#   Minimum depth: 949.475187 meters looking forward 100.000000 meters along route
#   Maximum depth: 953.208125 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.475187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124154;
longitude = -116.237748;
duration = 440;
initialDepth = 897.949687;
finalDepth = 899.475187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.561248
#   Actual altitude:          53.561248
#   Commanded vehicle depth:  899.475187 
#   Seafloor depth:           -950.295625
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.082392 meters
#   Minimum depth: 947.949687 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.926248 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.949687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125086;
longitude = -116.238140;
duration = 412;
initialDepth = 884.950563;
finalDepth = 897.949687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.246305
#   Actual altitude:          51.246305
#   Commanded vehicle depth:  897.949687 
#   Seafloor depth:           -949.195992
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556975 meters
#   Minimum depth: 934.950563 meters looking forward 100.000000 meters along route
#   Maximum depth: 942.988682 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.950563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125959;
longitude = -116.238507;
duration = 426;
initialDepth = 887.210211;
finalDepth = 884.950563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0381190000001
#   Actual altitude:          58.0381190000001
#   Commanded vehicle depth:  884.950563 
#   Seafloor depth:           -942.988682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556869 meters
#   Minimum depth: 937.210211 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.242187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.210211 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126861;
longitude = -116.238887;
duration = 426;
initialDepth = 889.647437;
finalDepth = 887.210211;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0381190000001
#   Actual altitude:          58.0381190000001
#   Commanded vehicle depth:  887.210211 
#   Seafloor depth:           -937.210211
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556762 meters
#   Minimum depth: 939.647437 meters looking forward 100.000000 meters along route
#   Maximum depth: 940.811063 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.647437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127763;
longitude = -116.239266;
duration = 426;
initialDepth = 880.096263;
finalDepth = 889.647437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.163626
#   Actual altitude:          51.163626
#   Commanded vehicle depth:  889.647437 
#   Seafloor depth:           -940.811063
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556656 meters
#   Minimum depth: 930.096263 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.084204 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.096263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128665;
longitude = -116.239646;
duration = 426;
initialDepth = 868.946889;
finalDepth = 880.096263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.987941
#   Actual altitude:          58.987941
#   Commanded vehicle depth:  880.096263 
#   Seafloor depth:           -939.084204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556550 meters
#   Minimum depth: 918.946889 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.739687 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.946889 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129567;
longitude = -116.240025;
duration = 426;
initialDepth = 866.081434;
finalDepth = 868.946889;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.7927979999999
#   Actual altitude:          59.7927979999999
#   Commanded vehicle depth:  868.946889 
#   Seafloor depth:           -928.739687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556444 meters
#   Minimum depth: 916.081434 meters looking forward 100.000000 meters along route
#   Maximum depth: 919.801250 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 866.081434 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130469;
longitude = -116.240405;
duration = 426;
initialDepth = 862.071545;
finalDepth = 866.081434;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.7927979999999
#   Actual altitude:          59.7927979999999
#   Commanded vehicle depth:  866.081434 
#   Seafloor depth:           -919.801250
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556337 meters
#   Minimum depth: 912.071545 meters looking forward 100.000000 meters along route
#   Maximum depth: 915.403643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.071545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131371;
longitude = -116.240784;
duration = 426;
initialDepth = 858.804348;
finalDepth = 862.071545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.719816
#   Actual altitude:          53.719816
#   Commanded vehicle depth:  862.071545 
#   Seafloor depth:           -915.403643
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556230 meters
#   Minimum depth: 908.804348 meters looking forward 100.000000 meters along route
#   Maximum depth: 911.799253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 858.804348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132273;
longitude = -116.241164;
duration = 426;
initialDepth = 853.826892;
finalDepth = 858.804348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.332098
#   Actual altitude:          53.332098
#   Commanded vehicle depth:  858.804348 
#   Seafloor depth:           -911.550597
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556125 meters
#   Minimum depth: 903.826892 meters looking forward 100.000000 meters along route
#   Maximum depth: 907.549316 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 853.826892 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133175;
longitude = -116.241543;
duration = 426;
initialDepth = 850.627717;
finalDepth = 853.826892;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7224239999999
#   Actual altitude:          53.7224239999999
#   Commanded vehicle depth:  853.826892 
#   Seafloor depth:           -907.549316
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.556018 meters
#   Minimum depth: 900.627717 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.038500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 850.627717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134078;
longitude = -116.241923;
duration = 426;
initialDepth = 847.458250;
finalDepth = 850.627717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7224239999999
#   Actual altitude:          53.7224239999999
#   Commanded vehicle depth:  850.627717 
#   Seafloor depth:           -904.038500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.555911 meters
#   Minimum depth: 897.458250 meters looking forward 100.000000 meters along route
#   Maximum depth: 899.869960 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 847.458250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134980;
longitude = -116.242303;
duration = 426;
initialDepth = 841.831003;
finalDepth = 847.458250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.410783
#   Actual altitude:          53.410783
#   Commanded vehicle depth:  847.45825 
#   Seafloor depth:           -899.869960
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 124.315096 meters
#   Minimum depth: 891.831003 meters looking forward 100.000000 meters along route
#   Maximum depth: 895.138803 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 841.831003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135882;
longitude = -116.242682;
duration = 497;
initialDepth = 838.460315;
finalDepth = 841.831003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.3078
#   Actual altitude:          53.3078
#   Commanded vehicle depth:  841.831003 
#   Seafloor depth:           -895.138803
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 38
#   Segment length 87.714871 meters
#   Minimum depth: 888.460315 meters looking forward 100.000000 meters along route
#   Maximum depth: 891.709133 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.460315 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136934;
longitude = -116.243125;
duration = 350;
# abortOnTimeout    = True; 
initialDepth = 830.985651;
finalDepth = 838.460315;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3078
#   Actual altitude:          53.3078
#   Commanded vehicle depth:  838.460315 
#   Seafloor depth:           -891.685465
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.257619 meters
#   Minimum depth: 880.985651 meters looking forward 100.000000 meters along route
#   Maximum depth: 886.390750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.985651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137174;
longitude = -116.242265;
duration = 421;
initialDepth = 824.906250;
finalDepth = 830.985651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4050990000001
#   Actual altitude:          55.4050990000001
#   Commanded vehicle depth:  830.985651 
#   Seafloor depth:           -886.390750
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.257372 meters
#   Minimum depth: 874.906250 meters looking forward 100.000000 meters along route
#   Maximum depth: 881.121129 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 824.906250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137461;
longitude = -116.241234;
duration = 421;
initialDepth = 817.369233;
finalDepth = 824.906250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.214879
#   Actual altitude:          56.214879
#   Commanded vehicle depth:  824.90625 
#   Seafloor depth:           -881.121129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.257126 meters
#   Minimum depth: 867.369233 meters looking forward 100.000000 meters along route
#   Maximum depth: 872.611765 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 817.369233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137749;
longitude = -116.240203;
duration = 421;
initialDepth = 809.250903;
finalDepth = 817.369233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.214879
#   Actual altitude:          56.214879
#   Commanded vehicle depth:  817.369233 
#   Seafloor depth:           -872.611765
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.256880 meters
#   Minimum depth: 859.250903 meters looking forward 100.000000 meters along route
#   Maximum depth: 872.324380 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 809.250903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138036;
longitude = -116.239172;
duration = 421;
initialDepth = 799.383748;
finalDepth = 809.250903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.073477
#   Actual altitude:          63.073477
#   Commanded vehicle depth:  809.250903 
#   Seafloor depth:           -872.324380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.256633 meters
#   Minimum depth: 849.383748 meters looking forward 100.000000 meters along route
#   Maximum depth: 856.604176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 799.383748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138324;
longitude = -116.238140;
duration = 421;
initialDepth = 805.269779;
finalDepth = 799.383748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.073477
#   Actual altitude:          63.073477
#   Commanded vehicle depth:  799.383748 
#   Seafloor depth:           -855.740106
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.256387 meters
#   Minimum depth: 855.269779 meters looking forward 100.000000 meters along route
#   Maximum depth: 859.803930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 805.269779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138612;
longitude = -116.237109;
duration = 421;
initialDepth = 814.606221;
finalDepth = 805.269779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.356358
#   Actual altitude:          56.356358
#   Commanded vehicle depth:  805.269779 
#   Seafloor depth:           -859.803930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.256140 meters
#   Minimum depth: 864.606221 meters looking forward 100.000000 meters along route
#   Maximum depth: 883.075816 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.606221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138899;
longitude = -116.236078;
duration = 421;
initialDepth = 836.272806;
finalDepth = 814.606221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5341510000001
#   Actual altitude:          54.5341510000001
#   Commanded vehicle depth:  814.606221 
#   Seafloor depth:           -864.606221
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.255894 meters
#   Minimum depth: 886.272806 meters looking forward 100.000000 meters along route
#   Maximum depth: 892.095523 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 836.272806 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139187;
longitude = -116.235046;
duration = 421;
initialDepth = 843.064846;
finalDepth = 836.272806;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  836.272806 
#   Seafloor depth:           -886.272806
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.255648 meters
#   Minimum depth: 893.064846 meters looking forward 100.000000 meters along route
#   Maximum depth: 903.153919 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 843.064846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139474;
longitude = -116.234015;
duration = 421;
initialDepth = 856.635965;
finalDepth = 843.064846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  843.064846 
#   Seafloor depth:           -893.064846
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.255401 meters
#   Minimum depth: 906.635965 meters looking forward 100.000000 meters along route
#   Maximum depth: 917.475867 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 856.635965 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139762;
longitude = -116.232984;
duration = 421;
initialDepth = 867.067093;
finalDepth = 856.635965;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  856.635965 
#   Seafloor depth:           -906.635965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.255155 meters
#   Minimum depth: 917.067093 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.387036 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.067093 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140049;
longitude = -116.231953;
duration = 421;
initialDepth = 860.568963;
finalDepth = 867.067093;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.319943
#   Actual altitude:          54.319943
#   Commanded vehicle depth:  867.067093 
#   Seafloor depth:           -921.387036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.254909 meters
#   Minimum depth: 910.568963 meters looking forward 100.000000 meters along route
#   Maximum depth: 916.868773 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 860.568963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140337;
longitude = -116.230921;
duration = 421;
initialDepth = 849.591626;
finalDepth = 860.568963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.29981
#   Actual altitude:          56.29981
#   Commanded vehicle depth:  860.568963 
#   Seafloor depth:           -916.868773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.254662 meters
#   Minimum depth: 899.591626 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.351654 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.591626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140624;
longitude = -116.229890;
duration = 421;
initialDepth = 845.859826;
finalDepth = 849.591626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.760028
#   Actual altitude:          60.760028
#   Commanded vehicle depth:  849.591626 
#   Seafloor depth:           -910.351654
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.254417 meters
#   Minimum depth: 895.859826 meters looking forward 100.000000 meters along route
#   Maximum depth: 898.038361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 845.859826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140912;
longitude = -116.228859;
duration = 421;
initialDepth = 849.344411;
finalDepth = 845.859826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.760028
#   Actual altitude:          60.760028
#   Commanded vehicle depth:  845.859826 
#   Seafloor depth:           -897.771258
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.254170 meters
#   Minimum depth: 899.344411 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.583093 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.344411 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141199;
longitude = -116.227827;
duration = 421;
initialDepth = 864.091094;
finalDepth = 849.344411;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.911432
#   Actual altitude:          51.911432
#   Commanded vehicle depth:  849.344411 
#   Seafloor depth:           -899.344411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.253924 meters
#   Minimum depth: 914.091094 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.038991 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 864.091094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141487;
longitude = -116.226796;
duration = 421;
initialDepth = 877.247814;
finalDepth = 864.091094;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  864.091094 
#   Seafloor depth:           -914.091094
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.253678 meters
#   Minimum depth: 927.247814 meters looking forward 100.000000 meters along route
#   Maximum depth: 940.122632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.247814 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141774;
longitude = -116.225765;
duration = 421;
initialDepth = 888.665304;
finalDepth = 877.247814;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  877.247814 
#   Seafloor depth:           -927.247814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.253431 meters
#   Minimum depth: 938.665304 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.804359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.665304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142062;
longitude = -116.224734;
duration = 421;
initialDepth = 893.708618;
finalDepth = 888.665304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.483389
#   Actual altitude:          51.483389
#   Commanded vehicle depth:  888.665304 
#   Seafloor depth:           -940.148693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 109.200176 meters
#   Minimum depth: 943.708618 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.966803 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.708618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142349;
longitude = -116.223702;
duration = 436;
initialDepth = 901.221448;
finalDepth = 893.708618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.483389
#   Actual altitude:          51.483389
#   Commanded vehicle depth:  893.708618 
#   Seafloor depth:           -943.708618
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 110.077017 meters
#   Minimum depth: 951.221448 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.503318 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.221448 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142648;
longitude = -116.222632;
duration = 440;
initialDepth = 905.983363;
finalDepth = 901.221448;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  901.221448 
#   Seafloor depth:           -951.221448
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 143.523062 meters
#   Minimum depth: 955.983363 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.781087 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 905.983363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.142948;
longitude = -116.221554;
duration = 574;
# abortOnTimeout    = True; 
initialDepth = 899.634365;
finalDepth = 905.983363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7977239999999
#   Actual altitude:          55.7977239999999
#   Commanded vehicle depth:  905.983363 
#   Seafloor depth:           -961.781087
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.642442 meters
#   Minimum depth: 949.634365 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.192029 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.634365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141746;
longitude = -116.221006;
duration = 430;
initialDepth = 903.267939;
finalDepth = 899.634365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.557664
#   Actual altitude:          56.557664
#   Commanded vehicle depth:  899.634365 
#   Seafloor depth:           -956.192029
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.642567 meters
#   Minimum depth: 953.267939 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.053594 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 903.267939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140843;
longitude = -116.220596;
duration = 430;
initialDepth = 900.274779;
finalDepth = 903.267939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.557664
#   Actual altitude:          56.557664
#   Commanded vehicle depth:  903.267939 
#   Seafloor depth:           -953.267939
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.642693 meters
#   Minimum depth: 950.274779 meters looking forward 100.000000 meters along route
#   Maximum depth: 957.438246 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.274779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139941;
longitude = -116.220185;
duration = 430;
initialDepth = 883.409484;
finalDepth = 900.274779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1634670000001
#   Actual altitude:          57.1634670000001
#   Commanded vehicle depth:  900.274779 
#   Seafloor depth:           -957.438246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.642818 meters
#   Minimum depth: 933.409484 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.665664 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 883.409484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139039;
longitude = -116.219774;
duration = 430;
initialDepth = 869.787598;
finalDepth = 883.409484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.25618
#   Actual altitude:          66.25618
#   Commanded vehicle depth:  883.409484 
#   Seafloor depth:           -949.665664
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.642943 meters
#   Minimum depth: 919.787598 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.350852 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 869.787598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138137;
longitude = -116.219364;
duration = 430;
initialDepth = 852.486855;
finalDepth = 869.787598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.25618
#   Actual altitude:          66.25618
#   Commanded vehicle depth:  869.787598 
#   Seafloor depth:           -929.350852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.643068 meters
#   Minimum depth: 902.486855 meters looking forward 100.000000 meters along route
#   Maximum depth: 916.162647 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 852.486855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137235;
longitude = -116.218953;
duration = 430;
initialDepth = 832.280238;
finalDepth = 852.486855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.675792
#   Actual altitude:          63.675792
#   Commanded vehicle depth:  852.486855 
#   Seafloor depth:           -916.162647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.643193 meters
#   Minimum depth: 882.280238 meters looking forward 100.000000 meters along route
#   Maximum depth: 902.248898 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 832.280238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136333;
longitude = -116.218542;
duration = 430;
initialDepth = 805.566162;
finalDepth = 832.280238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.96866
#   Actual altitude:          69.96866
#   Commanded vehicle depth:  832.280238 
#   Seafloor depth:           -902.248898
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.643319 meters
#   Minimum depth: 855.566162 meters looking forward 100.000000 meters along route
#   Maximum depth: 874.236693 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 805.566162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135431;
longitude = -116.218132;
duration = 430;
initialDepth = 789.689910;
finalDepth = 805.566162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.96866
#   Actual altitude:          69.96866
#   Commanded vehicle depth:  805.566162 
#   Seafloor depth:           -874.236693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.643443 meters
#   Minimum depth: 839.689910 meters looking forward 100.000000 meters along route
#   Maximum depth: 851.610559 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 789.689910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134529;
longitude = -116.217721;
duration = 430;
initialDepth = 781.562076;
finalDepth = 789.689910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.670531
#   Actual altitude:          68.670531
#   Commanded vehicle depth:  789.68991 
#   Seafloor depth:           -851.610559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.643569 meters
#   Minimum depth: 831.562076 meters looking forward 100.000000 meters along route
#   Maximum depth: 835.060593 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.562076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133627;
longitude = -116.217310;
duration = 430;
initialDepth = 780.859192;
finalDepth = 781.562076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.9206489999999
#   Actual altitude:          61.9206489999999
#   Commanded vehicle depth:  781.562076 
#   Seafloor depth:           -835.060593
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 109.172724 meters
#   Minimum depth: 830.859192 meters looking forward 100.000000 meters along route
#   Maximum depth: 837.572352 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 780.859192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132724;
longitude = -116.216900;
duration = 436;
initialDepth = 786.350869;
finalDepth = 780.859192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.498517
#   Actual altitude:          53.498517
#   Commanded vehicle depth:  780.859192 
#   Seafloor depth:           -830.859192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.114789 meters
#   Minimum depth: 836.350869 meters looking forward 100.000000 meters along route
#   Maximum depth: 838.115857 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 786.350869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131809;
longitude = -116.216483;
duration = 424;
initialDepth = 788.431146;
finalDepth = 786.350869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2492
#   Actual altitude:          51.2492
#   Commanded vehicle depth:  786.350869 
#   Seafloor depth:           -837.600069
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.643944 meters
#   Minimum depth: 838.431146 meters looking forward 100.000000 meters along route
#   Maximum depth: 839.780160 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 788.431146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130920;
longitude = -116.216079;
duration = 430;
initialDepth = 790.251225;
finalDepth = 788.431146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2492
#   Actual altitude:          51.2492
#   Commanded vehicle depth:  788.431146 
#   Seafloor depth:           -838.431146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.644069 meters
#   Minimum depth: 840.251225 meters looking forward 100.000000 meters along route
#   Maximum depth: 843.411140 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 790.251225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130018;
longitude = -116.215668;
duration = 430;
initialDepth = 791.477539;
finalDepth = 790.251225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  790.251225 
#   Seafloor depth:           -840.251225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.644194 meters
#   Minimum depth: 841.477539 meters looking forward 100.000000 meters along route
#   Maximum depth: 843.404003 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 791.477539 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129116;
longitude = -116.215257;
duration = 430;
initialDepth = 795.384943;
finalDepth = 791.477539;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.926464
#   Actual altitude:          51.926464
#   Commanded vehicle depth:  791.477539 
#   Seafloor depth:           -843.404003
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 111.619823 meters
#   Minimum depth: 845.384943 meters looking forward 100.000000 meters along route
#   Maximum depth: 846.939732 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 795.384943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128214;
longitude = -116.214847;
duration = 446;
initialDepth = 782.387858;
finalDepth = 795.384943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.926464
#   Actual altitude:          51.926464
#   Commanded vehicle depth:  795.384943 
#   Seafloor depth:           -845.924401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 112.639318 meters
#   Minimum depth: 832.387858 meters looking forward 100.000000 meters along route
#   Maximum depth: 845.320840 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 782.387858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127278;
longitude = -116.214421;
duration = 450;
initialDepth = 781.949300;
finalDepth = 782.387858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.9329819999999
#   Actual altitude:          62.9329819999999
#   Commanded vehicle depth:  782.387858 
#   Seafloor depth:           -845.320840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 36
#   Segment length 177.730935 meters
#   Minimum depth: 831.949300 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.254942 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.949300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126334;
longitude = -116.213991;
duration = 710;
# abortOnTimeout    = True; 
initialDepth = 819.603336;
finalDepth = 781.949300;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.9329819999999
#   Actual altitude:          62.9329819999999
#   Commanded vehicle depth:  781.9493 
#   Seafloor depth:           -831.949300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.638931 meters
#   Minimum depth: 869.603336 meters looking forward 100.000000 meters along route
#   Maximum depth: 870.661857 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 819.603336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125791;
longitude = -116.215710;
duration = 426;
initialDepth = 811.855199;
finalDepth = 819.603336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  819.603336 
#   Seafloor depth:           -869.603336
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.639208 meters
#   Minimum depth: 861.855199 meters looking forward 100.000000 meters along route
#   Maximum depth: 870.212784 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 811.855199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125465;
longitude = -116.216741;
duration = 426;
initialDepth = 806.150149;
finalDepth = 811.855199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3575850000001
#   Actual altitude:          58.3575850000001
#   Commanded vehicle depth:  811.855199 
#   Seafloor depth:           -870.212784
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.639485 meters
#   Minimum depth: 856.150149 meters looking forward 100.000000 meters along route
#   Maximum depth: 858.020811 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 806.150149 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125139;
longitude = -116.217772;
duration = 426;
initialDepth = 808.439701;
finalDepth = 806.150149;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3575850000001
#   Actual altitude:          58.3575850000001
#   Commanded vehicle depth:  806.150149 
#   Seafloor depth:           -857.672944
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.639762 meters
#   Minimum depth: 858.439701 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.465354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.439701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124813;
longitude = -116.218804;
duration = 426;
initialDepth = 814.021558;
finalDepth = 808.439701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.522795
#   Actual altitude:          51.522795
#   Commanded vehicle depth:  808.439701 
#   Seafloor depth:           -858.439701
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 108.713598 meters
#   Minimum depth: 864.021558 meters looking forward 100.000000 meters along route
#   Maximum depth: 873.409112 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.021558 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124487;
longitude = -116.219835;
duration = 434;
initialDepth = 823.109253;
finalDepth = 814.021558;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.167766
#   Actual altitude:          51.167766
#   Commanded vehicle depth:  814.021558 
#   Seafloor depth:           -865.189324
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 104.566757 meters
#   Minimum depth: 873.109253 meters looking forward 100.000000 meters along route
#   Maximum depth: 878.884075 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 823.109253 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124154;
longitude = -116.220886;
duration = 418;
initialDepth = 832.047857;
finalDepth = 823.109253;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.167766
#   Actual altitude:          51.167766
#   Commanded vehicle depth:  823.109253 
#   Seafloor depth:           -873.415184
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.640594 meters
#   Minimum depth: 882.047857 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.391235 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 832.047857 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123835;
longitude = -116.221898;
duration = 426;
initialDepth = 841.732538;
finalDepth = 832.047857;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.305931
#   Actual altitude:          50.305931
#   Commanded vehicle depth:  832.047857 
#   Seafloor depth:           -882.047857
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.640871 meters
#   Minimum depth: 891.732538 meters looking forward 100.000000 meters along route
#   Maximum depth: 900.873474 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 841.732538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123508;
longitude = -116.222929;
duration = 426;
initialDepth = 855.688579;
finalDepth = 841.732538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  841.732538 
#   Seafloor depth:           -891.732538
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.641148 meters
#   Minimum depth: 905.688579 meters looking forward 100.000000 meters along route
#   Maximum depth: 918.357922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 855.688579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123182;
longitude = -116.223960;
duration = 426;
initialDepth = 872.680075;
finalDepth = 855.688579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  855.688579 
#   Seafloor depth:           -905.688579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.641426 meters
#   Minimum depth: 922.680075 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.729485 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.680075 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122856;
longitude = -116.224991;
duration = 426;
initialDepth = 894.490910;
finalDepth = 872.680075;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  872.680075 
#   Seafloor depth:           -922.680075
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.641703 meters
#   Minimum depth: 944.490910 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.262002 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.490910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122530;
longitude = -116.226023;
duration = 426;
initialDepth = 906.017584;
finalDepth = 894.490910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  894.49091 
#   Seafloor depth:           -944.490910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.641980 meters
#   Minimum depth: 956.017584 meters looking forward 100.000000 meters along route
#   Maximum depth: 968.453805 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 906.017584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122204;
longitude = -116.227054;
duration = 426;
initialDepth = 918.960059;
finalDepth = 906.017584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  906.017584 
#   Seafloor depth:           -956.017584
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.642258 meters
#   Minimum depth: 968.960059 meters looking forward 100.000000 meters along route
#   Maximum depth: 976.849562 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 918.960059 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121878;
longitude = -116.228085;
duration = 426;
initialDepth = 907.967971;
finalDepth = 918.960059;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  918.960059 
#   Seafloor depth:           -968.960059
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 107.827453 meters
#   Minimum depth: 957.967971 meters looking forward 100.000000 meters along route
#   Maximum depth: 972.129554 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 907.967971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121552;
longitude = -116.229117;
duration = 431;
initialDepth = 899.498177;
finalDepth = 907.967971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.161583
#   Actual altitude:          64.161583
#   Commanded vehicle depth:  907.967971 
#   Seafloor depth:           -972.129554
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 105.457894 meters
#   Minimum depth: 949.498177 meters looking forward 100.000000 meters along route
#   Maximum depth: 957.805918 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.498177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121222;
longitude = -116.230159;
duration = 421;
initialDepth = 899.056978;
finalDepth = 899.498177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.161583
#   Actual altitude:          64.161583
#   Commanded vehicle depth:  899.498177 
#   Seafloor depth:           -957.805918
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.643090 meters
#   Minimum depth: 949.056978 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.595429 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.056978 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120900;
longitude = -116.231179;
duration = 426;
initialDepth = 894.507148;
finalDepth = 899.056978;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.307741
#   Actual altitude:          58.307741
#   Commanded vehicle depth:  899.056978 
#   Seafloor depth:           -949.191140
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.643367 meters
#   Minimum depth: 944.507148 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.163529 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.507148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120574;
longitude = -116.232210;
duration = 426;
initialDepth = 894.707899;
finalDepth = 894.507148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.656381
#   Actual altitude:          52.656381
#   Commanded vehicle depth:  894.507148 
#   Seafloor depth:           -947.163529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 106.643645 meters
#   Minimum depth: 944.707899 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.231198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.707899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120248;
longitude = -116.233242;
duration = 426;
initialDepth = 895.146241;
finalDepth = 894.707899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.656381
#   Actual altitude:          52.656381
#   Commanded vehicle depth:  894.707899 
#   Seafloor depth:           -945.081380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 115.530928 meters
#   Minimum depth: 945.146241 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.341853 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.146241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119922;
longitude = -116.234273;
duration = 462;
initialDepth = 898.458285;
finalDepth = 895.146241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.5944949999999
#   Actual altitude:          50.5944949999999
#   Commanded vehicle depth:  895.146241 
#   Seafloor depth:           -945.740736
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 35
#   Segment length 88.781961 meters
#   Minimum depth: 948.458285 meters looking forward 100.000000 meters along route
#   Maximum depth: 951.404520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.458285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.119568;
longitude = -116.235390;
duration = 355;
# abortOnTimeout    = True; 
initialDepth = 894.906395;
finalDepth = 898.458285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.685921
#   Actual altitude:          52.685921
#   Commanded vehicle depth:  898.458285 
#   Seafloor depth:           -951.144206
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.538256 meters
#   Minimum depth: 944.906395 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.119486 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.906395 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.120320;
longitude = -116.235706;
duration = 426;
initialDepth = 892.813286;
finalDepth = 894.906395;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7193090000001
#   Actual altitude:          53.7193090000001
#   Commanded vehicle depth:  894.906395 
#   Seafloor depth:           -948.625704
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.538149 meters
#   Minimum depth: 942.813286 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.746669 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.813286 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121222;
longitude = -116.236085;
duration = 426;
initialDepth = 890.307989;
finalDepth = 892.813286;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.933383
#   Actual altitude:          56.933383
#   Commanded vehicle depth:  892.813286 
#   Seafloor depth:           -949.746669
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 108.898062 meters
#   Minimum depth: 940.307989 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.739462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.307989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122124;
longitude = -116.236464;
duration = 435;
initialDepth = 894.531843;
finalDepth = 890.307989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.933383
#   Actual altitude:          56.933383
#   Commanded vehicle depth:  890.307989 
#   Seafloor depth:           -940.307989
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 104.177919 meters
#   Minimum depth: 944.531843 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.417787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.531843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123047;
longitude = -116.236851;
duration = 416;
initialDepth = 898.160320;
finalDepth = 894.531843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  894.531843 
#   Seafloor depth:           -944.531843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537831 meters
#   Minimum depth: 948.160320 meters looking forward 100.000000 meters along route
#   Maximum depth: 951.993568 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.160320 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123929;
longitude = -116.237222;
duration = 426;
initialDepth = 895.215262;
finalDepth = 898.160320;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  898.16032 
#   Seafloor depth:           -948.160320
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537725 meters
#   Minimum depth: 945.215262 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.029024 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.215262 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124831;
longitude = -116.237601;
duration = 426;
initialDepth = 889.798692;
finalDepth = 895.215262;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.813762
#   Actual altitude:          56.813762
#   Commanded vehicle depth:  895.215262 
#   Seafloor depth:           -952.029024
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537620 meters
#   Minimum depth: 939.798692 meters looking forward 100.000000 meters along route
#   Maximum depth: 942.617309 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.798692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125733;
longitude = -116.237980;
duration = 426;
initialDepth = 884.921914;
finalDepth = 889.798692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.813762
#   Actual altitude:          56.813762
#   Commanded vehicle depth:  889.798692 
#   Seafloor depth:           -942.617309
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537513 meters
#   Minimum depth: 934.921914 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.891860 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.921914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126635;
longitude = -116.238359;
duration = 426;
initialDepth = 888.141824;
finalDepth = 884.921914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9699459999999
#   Actual altitude:          54.9699459999999
#   Commanded vehicle depth:  884.921914 
#   Seafloor depth:           -939.891860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537407 meters
#   Minimum depth: 938.141824 meters looking forward 100.000000 meters along route
#   Maximum depth: 938.260367 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.141824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127537;
longitude = -116.238737;
duration = 426;
initialDepth = 886.815520;
finalDepth = 888.141824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9699459999999
#   Actual altitude:          54.9699459999999
#   Commanded vehicle depth:  888.141824 
#   Seafloor depth:           -938.161265
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537301 meters
#   Minimum depth: 936.815520 meters looking forward 100.000000 meters along route
#   Maximum depth: 938.480378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.815520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128439;
longitude = -116.239116;
duration = 426;
initialDepth = 872.060102;
finalDepth = 886.815520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.664858
#   Actual altitude:          51.664858
#   Commanded vehicle depth:  886.81552 
#   Seafloor depth:           -938.480378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537196 meters
#   Minimum depth: 922.060102 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.355378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.060102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129341;
longitude = -116.239495;
duration = 426;
initialDepth = 866.089390;
finalDepth = 872.060102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.2952759999999
#   Actual altitude:          62.2952759999999
#   Commanded vehicle depth:  872.060102 
#   Seafloor depth:           -934.355378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.537089 meters
#   Minimum depth: 916.089390 meters looking forward 100.000000 meters along route
#   Maximum depth: 918.687520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 866.089390 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130244;
longitude = -116.239874;
duration = 426;
initialDepth = 862.131105;
finalDepth = 866.089390;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.2952759999999
#   Actual altitude:          62.2952759999999
#   Commanded vehicle depth:  866.08939 
#   Seafloor depth:           -918.687520
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.536983 meters
#   Minimum depth: 912.131105 meters looking forward 100.000000 meters along route
#   Maximum depth: 915.706465 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.131105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131146;
longitude = -116.240253;
duration = 426;
initialDepth = 857.169205;
finalDepth = 862.131105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5753599999999
#   Actual altitude:          53.5753599999999
#   Commanded vehicle depth:  862.131105 
#   Seafloor depth:           -915.706465
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.536877 meters
#   Minimum depth: 907.169205 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.561483 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 857.169205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132048;
longitude = -116.240632;
duration = 426;
initialDepth = 853.666803;
finalDepth = 857.169205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5753599999999
#   Actual altitude:          53.5753599999999
#   Commanded vehicle depth:  857.169205 
#   Seafloor depth:           -910.561483
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.536771 meters
#   Minimum depth: 903.666803 meters looking forward 100.000000 meters along route
#   Maximum depth: 906.691243 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 853.666803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132950;
longitude = -116.241011;
duration = 426;
initialDepth = 847.817177;
finalDepth = 853.666803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3922779999999
#   Actual altitude:          53.3922779999999
#   Commanded vehicle depth:  853.666803 
#   Seafloor depth:           -906.691243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.536665 meters
#   Minimum depth: 897.817177 meters looking forward 100.000000 meters along route
#   Maximum depth: 903.025254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 847.817177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133852;
longitude = -116.241390;
duration = 426;
initialDepth = 843.769060;
finalDepth = 847.817177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.208077
#   Actual altitude:          55.208077
#   Commanded vehicle depth:  847.817177 
#   Seafloor depth:           -903.025254
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 115.414601 meters
#   Minimum depth: 893.769060 meters looking forward 100.000000 meters along route
#   Maximum depth: 898.142442 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 843.769060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134754;
longitude = -116.241769;
duration = 461;
initialDepth = 836.023178;
finalDepth = 843.769060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.208077
#   Actual altitude:          55.208077
#   Commanded vehicle depth:  843.76906 
#   Seafloor depth:           -897.313760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 122.981445 meters
#   Minimum depth: 886.023178 meters looking forward 100.000000 meters along route
#   Maximum depth: 894.001790 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 836.023178 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135731;
longitude = -116.242179;
duration = 491;
# abortOnTimeout    = True; 
initialDepth = 833.264783;
finalDepth = 836.023178;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.978612
#   Actual altitude:          57.978612
#   Commanded vehicle depth:  836.023178 
#   Seafloor depth:           -894.001790
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.412395 meters
#   Minimum depth: 883.264783 meters looking forward 100.000000 meters along route
#   Maximum depth: 887.989715 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.264783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136072;
longitude = -116.240976;
duration = 421;
initialDepth = 826.098973;
finalDepth = 833.264783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.978612
#   Actual altitude:          57.978612
#   Commanded vehicle depth:  833.264783 
#   Seafloor depth:           -884.446899
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.412146 meters
#   Minimum depth: 876.098973 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.538552 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.098973 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136364;
longitude = -116.239945;
duration = 421;
initialDepth = 811.088348;
finalDepth = 826.098973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.439579
#   Actual altitude:          62.439579
#   Commanded vehicle depth:  826.098973 
#   Seafloor depth:           -888.538552
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.411895 meters
#   Minimum depth: 861.088348 meters looking forward 100.000000 meters along route
#   Maximum depth: 875.815830 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 811.088348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136656;
longitude = -116.238914;
duration = 421;
initialDepth = 808.057533;
finalDepth = 811.088348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.727482
#   Actual altitude:          64.727482
#   Commanded vehicle depth:  811.088348 
#   Seafloor depth:           -875.815830
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.411645 meters
#   Minimum depth: 858.057533 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.425487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.057533 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136948;
longitude = -116.237882;
duration = 421;
initialDepth = 810.145407;
finalDepth = 808.057533;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.727482
#   Actual altitude:          64.727482
#   Commanded vehicle depth:  808.057533 
#   Seafloor depth:           -861.425487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.411395 meters
#   Minimum depth: 860.145407 meters looking forward 100.000000 meters along route
#   Maximum depth: 866.630648 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 810.145407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137241;
longitude = -116.236851;
duration = 421;
initialDepth = 820.838751;
finalDepth = 810.145407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3679539999999
#   Actual altitude:          53.3679539999999
#   Commanded vehicle depth:  810.145407 
#   Seafloor depth:           -860.145407
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.411145 meters
#   Minimum depth: 870.838751 meters looking forward 100.000000 meters along route
#   Maximum depth: 892.749781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 820.838751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137533;
longitude = -116.235820;
duration = 421;
initialDepth = 849.083582;
finalDepth = 820.838751;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  820.838751 
#   Seafloor depth:           -870.838751
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.410895 meters
#   Minimum depth: 899.717720 meters looking forward 100.000000 meters along route
#   Maximum depth: 907.878867 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.083582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137825;
longitude = -116.234789;
duration = 421;
initialDepth = 859.295108;
finalDepth = 849.083582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6341383285554
#   Actual altitude:          50.6341383285554
#   Commanded vehicle depth:  849.083581671445 
#   Seafloor depth:           -899.717720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.410644 meters
#   Minimum depth: 909.295108 meters looking forward 100.000000 meters along route
#   Maximum depth: 920.241491 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 859.295108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138117;
longitude = -116.233757;
duration = 421;
initialDepth = 872.406800;
finalDepth = 859.295108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6341383285554
#   Actual altitude:          50.6341383285554
#   Commanded vehicle depth:  859.295108 
#   Seafloor depth:           -909.295108
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.410395 meters
#   Minimum depth: 922.406800 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.204470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.406800 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138409;
longitude = -116.232726;
duration = 421;
initialDepth = 874.801435;
finalDepth = 872.406800;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  872.4068 
#   Seafloor depth:           -922.406800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.410144 meters
#   Minimum depth: 924.801435 meters looking forward 100.000000 meters along route
#   Maximum depth: 930.758972 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.801435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138701;
longitude = -116.231695;
duration = 421;
initialDepth = 871.349793;
finalDepth = 874.801435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.957537
#   Actual altitude:          55.957537
#   Commanded vehicle depth:  874.801435 
#   Seafloor depth:           -930.758972
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.409895 meters
#   Minimum depth: 921.349793 meters looking forward 100.000000 meters along route
#   Maximum depth: 922.594239 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.349793 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138993;
longitude = -116.230663;
duration = 421;
initialDepth = 871.970888;
finalDepth = 871.349793;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.957537
#   Actual altitude:          55.957537
#   Commanded vehicle depth:  871.349793 
#   Seafloor depth:           -922.533792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.409644 meters
#   Minimum depth: 921.970888 meters looking forward 100.000000 meters along route
#   Maximum depth: 924.371376 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.970888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139285;
longitude = -116.229632;
duration = 421;
initialDepth = 867.209671;
finalDepth = 871.970888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.183999
#   Actual altitude:          51.183999
#   Commanded vehicle depth:  871.970888 
#   Seafloor depth:           -922.773984
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.409395 meters
#   Minimum depth: 917.209671 meters looking forward 100.000000 meters along route
#   Maximum depth: 919.663920 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 867.209671 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139577;
longitude = -116.228601;
duration = 421;
initialDepth = 869.833128;
finalDepth = 867.209671;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.454249
#   Actual altitude:          52.454249
#   Commanded vehicle depth:  867.209671 
#   Seafloor depth:           -919.663920
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 107.410581 meters
#   Minimum depth: 919.833128 meters looking forward 100.000000 meters along route
#   Maximum depth: 924.655238 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 869.833128 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139869;
longitude = -116.227570;
duration = 429;
initialDepth = 874.768888;
finalDepth = 869.833128;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.454249
#   Actual altitude:          52.454249
#   Commanded vehicle depth:  869.833128 
#   Seafloor depth:           -920.095802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.407458 meters
#   Minimum depth: 924.768888 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.285320 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.768888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140167;
longitude = -116.226519;
duration = 413;
initialDepth = 876.707338;
finalDepth = 874.768888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2626740000001
#   Actual altitude:          50.2626740000001
#   Commanded vehicle depth:  874.768888 
#   Seafloor depth:           -924.768888
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.408645 meters
#   Minimum depth: 926.707338 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.717028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 876.707338 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140453;
longitude = -116.225507;
duration = 421;
initialDepth = 886.146202;
finalDepth = 876.707338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  876.707338 
#   Seafloor depth:           -926.707338
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.408395 meters
#   Minimum depth: 936.146202 meters looking forward 100.000000 meters along route
#   Maximum depth: 942.003193 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.146202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140746;
longitude = -116.224476;
duration = 421;
initialDepth = 886.874183;
finalDepth = 886.146202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.767434
#   Actual altitude:          50.767434
#   Commanded vehicle depth:  886.146202 
#   Seafloor depth:           -936.913636
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.408145 meters
#   Minimum depth: 936.874183 meters looking forward 100.000000 meters along route
#   Maximum depth: 951.176412 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.874183 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141038;
longitude = -116.223444;
duration = 421;
initialDepth = 901.361138;
finalDepth = 886.874183;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.88886
#   Actual altitude:          52.88886
#   Commanded vehicle depth:  886.874183 
#   Seafloor depth:           -939.763043
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 122.975853 meters
#   Minimum depth: 951.361138 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.159506 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.361138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141330;
longitude = -116.222413;
duration = 491;
initialDepth = 901.498604;
finalDepth = 901.361138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.88886
#   Actual altitude:          52.88886
#   Commanded vehicle depth:  901.361138 
#   Seafloor depth:           -951.361138
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 179.319605 meters
#   Minimum depth: 951.498604 meters looking forward 100.000000 meters along route
#   Maximum depth: 958.968809 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.498604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.141670;
longitude = -116.221210;
duration = 717;
# abortOnTimeout    = True; 
initialDepth = 896.675828;
finalDepth = 901.498604;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.730888
#   Actual altitude:          53.730888
#   Commanded vehicle depth:  901.498604 
#   Seafloor depth:           -955.229492
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 114.406089 meters
#   Minimum depth: 946.675828 meters looking forward 100.000000 meters along route
#   Maximum depth: 958.648367 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 896.675828 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140167;
longitude = -116.220528;
duration = 457;
initialDepth = 888.389351;
finalDepth = 896.675828;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.972539
#   Actual altitude:          61.972539
#   Commanded vehicle depth:  896.675828 
#   Seafloor depth:           -958.648367
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 100.777893 meters
#   Minimum depth: 938.389351 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.272180 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.389351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139208;
longitude = -116.220093;
duration = 403;
initialDepth = 870.648861;
finalDepth = 888.389351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.972539
#   Actual altitude:          61.972539
#   Commanded vehicle depth:  888.389351 
#   Seafloor depth:           -947.272180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.592177 meters
#   Minimum depth: 920.648861 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.956212 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 870.648861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138363;
longitude = -116.219709;
duration = 430;
initialDepth = 852.621880;
finalDepth = 870.648861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.307351
#   Actual altitude:          63.307351
#   Commanded vehicle depth:  870.648861 
#   Seafloor depth:           -933.956212
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.592302 meters
#   Minimum depth: 902.621880 meters looking forward 100.000000 meters along route
#   Maximum depth: 919.770160 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 852.621880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137461;
longitude = -116.219300;
duration = 430;
initialDepth = 833.988660;
finalDepth = 852.621880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.14828
#   Actual altitude:          67.14828
#   Commanded vehicle depth:  852.62188 
#   Seafloor depth:           -919.770160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.592426 meters
#   Minimum depth: 883.988660 meters looking forward 100.000000 meters along route
#   Maximum depth: 907.157410 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.988660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136558;
longitude = -116.218891;
duration = 430;
initialDepth = 815.348622;
finalDepth = 833.988660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.16875
#   Actual altitude:          73.16875
#   Commanded vehicle depth:  833.98866 
#   Seafloor depth:           -907.157410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.592550 meters
#   Minimum depth: 865.348622 meters looking forward 100.000000 meters along route
#   Maximum depth: 878.529576 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 815.348622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135656;
longitude = -116.218482;
duration = 430;
initialDepth = 792.933985;
finalDepth = 815.348622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.16875
#   Actual altitude:          73.16875
#   Commanded vehicle depth:  815.348622 
#   Seafloor depth:           -878.529576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.592674 meters
#   Minimum depth: 842.933985 meters looking forward 100.000000 meters along route
#   Maximum depth: 858.527704 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 792.933985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134754;
longitude = -116.218073;
duration = 430;
initialDepth = 779.638359;
finalDepth = 792.933985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.593719
#   Actual altitude:          65.593719
#   Commanded vehicle depth:  792.933985 
#   Seafloor depth:           -858.527704
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.592799 meters
#   Minimum depth: 829.638359 meters looking forward 100.000000 meters along route
#   Maximum depth: 837.908825 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 779.638359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133852;
longitude = -116.217663;
duration = 430;
initialDepth = 778.472074;
finalDepth = 779.638359;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.593719
#   Actual altitude:          65.593719
#   Commanded vehicle depth:  779.638359 
#   Seafloor depth:           -837.908825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.592923 meters
#   Minimum depth: 828.472074 meters looking forward 100.000000 meters along route
#   Maximum depth: 832.080383 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 778.472074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132950;
longitude = -116.217254;
duration = 430;
initialDepth = 781.271645;
finalDepth = 778.472074;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2704659999999
#   Actual altitude:          58.2704659999999
#   Commanded vehicle depth:  778.472074 
#   Seafloor depth:           -829.585243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.593047 meters
#   Minimum depth: 831.271645 meters looking forward 100.000000 meters along route
#   Maximum depth: 836.054456 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.271645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132048;
longitude = -116.216845;
duration = 430;
initialDepth = 787.063472;
finalDepth = 781.271645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.113169
#   Actual altitude:          51.113169
#   Commanded vehicle depth:  781.271645 
#   Seafloor depth:           -832.012330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.593172 meters
#   Minimum depth: 837.063472 meters looking forward 100.000000 meters along route
#   Maximum depth: 840.101057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 787.063472 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131146;
longitude = -116.216436;
duration = 430;
initialDepth = 790.216602;
finalDepth = 787.063472;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.740685
#   Actual altitude:          50.740685
#   Commanded vehicle depth:  787.063472 
#   Seafloor depth:           -837.065568
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 107.593296 meters
#   Minimum depth: 840.216602 meters looking forward 100.000000 meters along route
#   Maximum depth: 842.017583 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 790.216602 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130244;
longitude = -116.216026;
duration = 430;
initialDepth = 791.570901;
finalDepth = 790.216602;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1565760000001
#   Actual altitude:          50.1565760000001
#   Commanded vehicle depth:  790.216602 
#   Seafloor depth:           -840.373178
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 111.179869 meters
#   Minimum depth: 841.570901 meters looking forward 100.000000 meters along route
#   Maximum depth: 847.308783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 791.570901 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129341;
longitude = -116.215617;
duration = 444;
initialDepth = 797.236584;
finalDepth = 791.570901;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1565760000001
#   Actual altitude:          50.1565760000001
#   Commanded vehicle depth:  791.570901 
#   Seafloor depth:           -841.570901
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 112.973230 meters
#   Minimum depth: 847.236584 meters looking forward 100.000000 meters along route
#   Maximum depth: 850.708046 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 797.236584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128409;
longitude = -116.215194;
duration = 451;
initialDepth = 800.069336;
finalDepth = 797.236584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  797.236584 
#   Seafloor depth:           -847.236584
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 97.482291 meters
#   Minimum depth: 850.069336 meters looking forward 100.000000 meters along route
#   Maximum depth: 859.359049 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 800.069336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127462;
longitude = -116.214765;
duration = 389;
# abortOnTimeout    = True; 
initialDepth = 811.752893;
finalDepth = 800.069336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  800.069336 
#   Seafloor depth:           -850.069336
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.344577 meters
#   Minimum depth: 861.752893 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.981559 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 811.752893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127170;
longitude = -116.215710;
duration = 425;
initialDepth = 816.714677;
finalDepth = 811.752893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  811.752893 
#   Seafloor depth:           -861.752893
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.344848 meters
#   Minimum depth: 866.714677 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.976990 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 816.714677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126852;
longitude = -116.216741;
duration = 425;
initialDepth = 815.578421;
finalDepth = 816.714677;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2623129999999
#   Actual altitude:          52.2623129999999
#   Commanded vehicle depth:  816.714677 
#   Seafloor depth:           -868.976990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.345119 meters
#   Minimum depth: 865.578421 meters looking forward 100.000000 meters along route
#   Maximum depth: 867.279205 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 815.578421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126534;
longitude = -116.217772;
duration = 425;
initialDepth = 813.691981;
finalDepth = 815.578421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2623129999999
#   Actual altitude:          52.2623129999999
#   Commanded vehicle depth:  815.578421 
#   Seafloor depth:           -865.578421
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.345390 meters
#   Minimum depth: 863.691981 meters looking forward 100.000000 meters along route
#   Maximum depth: 867.385661 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.691981 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126216;
longitude = -116.218804;
duration = 425;
initialDepth = 814.992109;
finalDepth = 813.691981;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.691981 
#   Seafloor depth:           -863.691981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.345661 meters
#   Minimum depth: 864.992109 meters looking forward 100.000000 meters along route
#   Maximum depth: 873.697825 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.992109 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125898;
longitude = -116.219835;
duration = 425;
initialDepth = 822.702332;
finalDepth = 814.992109;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  814.992109 
#   Seafloor depth:           -864.992109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.345931 meters
#   Minimum depth: 872.702332 meters looking forward 100.000000 meters along route
#   Maximum depth: 881.053302 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.702332 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125579;
longitude = -116.220866;
duration = 425;
initialDepth = 831.698621;
finalDepth = 822.702332;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  822.702332 
#   Seafloor depth:           -872.702332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.346203 meters
#   Minimum depth: 881.698621 meters looking forward 100.000000 meters along route
#   Maximum depth: 889.818550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 831.698621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125261;
longitude = -116.221898;
duration = 425;
initialDepth = 841.710744;
finalDepth = 831.698621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  831.698621 
#   Seafloor depth:           -881.698621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.346473 meters
#   Minimum depth: 891.710744 meters looking forward 100.000000 meters along route
#   Maximum depth: 902.054472 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 841.710744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124943;
longitude = -116.222929;
duration = 425;
initialDepth = 855.185524;
finalDepth = 841.710744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  841.710744 
#   Seafloor depth:           -891.710744
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.346745 meters
#   Minimum depth: 905.185524 meters looking forward 100.000000 meters along route
#   Maximum depth: 917.576720 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 855.185524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124625;
longitude = -116.223960;
duration = 425;
initialDepth = 872.667140;
finalDepth = 855.185524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  855.185524 
#   Seafloor depth:           -905.185524
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.347015 meters
#   Minimum depth: 922.667140 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.606591 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.667140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124307;
longitude = -116.224991;
duration = 425;
initialDepth = 894.810645;
finalDepth = 872.667140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  872.66714 
#   Seafloor depth:           -922.667140
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.347287 meters
#   Minimum depth: 944.810645 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.162590 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.810645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123989;
longitude = -116.226023;
duration = 425;
initialDepth = 910.312972;
finalDepth = 894.810645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  894.810645 
#   Seafloor depth:           -944.810645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.347557 meters
#   Minimum depth: 960.312972 meters looking forward 100.000000 meters along route
#   Maximum depth: 967.717885 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 910.312972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123670;
longitude = -116.227054;
duration = 425;
initialDepth = 918.210267;
finalDepth = 910.312972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  910.312972 
#   Seafloor depth:           -960.312972
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 108.850134 meters
#   Minimum depth: 968.210267 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.301339 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 918.210267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123352;
longitude = -116.228085;
duration = 435;
initialDepth = 907.725466;
finalDepth = 918.210267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.007383
#   Actual altitude:          53.007383
#   Commanded vehicle depth:  918.210267 
#   Seafloor depth:           -971.217650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 103.845794 meters
#   Minimum depth: 957.725466 meters looking forward 100.000000 meters along route
#   Maximum depth: 967.861391 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 907.725466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123027;
longitude = -116.229141;
duration = 415;
initialDepth = 899.023010;
finalDepth = 907.725466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.135925
#   Actual altitude:          60.135925
#   Commanded vehicle depth:  907.725466 
#   Seafloor depth:           -967.861391
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.348371 meters
#   Minimum depth: 949.023010 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.206875 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.023010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122716;
longitude = -116.230148;
duration = 425;
initialDepth = 892.962592;
finalDepth = 899.023010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.135925
#   Actual altitude:          60.135925
#   Commanded vehicle depth:  899.02301 
#   Seafloor depth:           -956.206875
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.348642 meters
#   Minimum depth: 942.962592 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.326722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.962592 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122398;
longitude = -116.231179;
duration = 425;
initialDepth = 890.416376;
finalDepth = 892.962592;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.183865
#   Actual altitude:          57.183865
#   Commanded vehicle depth:  892.962592 
#   Seafloor depth:           -945.017626
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.348913 meters
#   Minimum depth: 940.416376 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.887351 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.416376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122080;
longitude = -116.232210;
duration = 425;
initialDepth = 892.630801;
finalDepth = 890.416376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.055034
#   Actual altitude:          52.055034
#   Commanded vehicle depth:  890.416376 
#   Seafloor depth:           -941.879311
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 106.349185 meters
#   Minimum depth: 942.630801 meters looking forward 100.000000 meters along route
#   Maximum depth: 946.100988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.630801 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121761;
longitude = -116.233242;
duration = 425;
initialDepth = 894.551969;
finalDepth = 892.630801;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.462935
#   Actual altitude:          51.462935
#   Commanded vehicle depth:  892.630801 
#   Seafloor depth:           -943.001651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 124.074391 meters
#   Minimum depth: 944.551969 meters looking forward 100.000000 meters along route
#   Maximum depth: 946.131299 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.551969 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121443;
longitude = -116.234273;
duration = 496;
initialDepth = 893.712941;
finalDepth = 894.551969;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.57933
#   Actual altitude:          51.57933
#   Commanded vehicle depth:  894.551969 
#   Seafloor depth:           -946.131299
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 97.925128 meters
#   Minimum depth: 943.712941 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.509453 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.712941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121072;
longitude = -116.235476;
duration = 391;
# abortOnTimeout    = True; 
initialDepth = 891.767641;
finalDepth = 893.712941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.313426
#   Actual altitude:          53.313426
#   Commanded vehicle depth:  893.712941 
#   Seafloor depth:           -947.026367
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.827305 meters
#   Minimum depth: 941.767641 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.694069 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 891.767641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.121899;
longitude = -116.235831;
duration = 427;
initialDepth = 895.971693;
finalDepth = 891.767641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.313426
#   Actual altitude:          53.313426
#   Commanded vehicle depth:  891.767641 
#   Seafloor depth:           -943.570097
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.827194 meters
#   Minimum depth: 945.971693 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.382760 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.971693 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122801;
longitude = -116.236219;
duration = 427;
initialDepth = 901.902624;
finalDepth = 895.971693;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.802456
#   Actual altitude:          51.802456
#   Commanded vehicle depth:  895.971693 
#   Seafloor depth:           -947.220563
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.827084 meters
#   Minimum depth: 951.902624 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.389358 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.902624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123703;
longitude = -116.236606;
duration = 427;
initialDepth = 897.472426;
finalDepth = 901.902624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.24887
#   Actual altitude:          51.24887
#   Commanded vehicle depth:  901.902624 
#   Seafloor depth:           -952.389358
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826972 meters
#   Minimum depth: 947.472426 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.090340 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.472426 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124605;
longitude = -116.236994;
duration = 427;
initialDepth = 890.890138;
finalDepth = 897.472426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.960833
#   Actual altitude:          53.960833
#   Commanded vehicle depth:  897.472426 
#   Seafloor depth:           -951.433259
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826862 meters
#   Minimum depth: 940.890138 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.229800 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.890138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125507;
longitude = -116.237381;
duration = 427;
initialDepth = 883.869695;
finalDepth = 890.890138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.339662
#   Actual altitude:          56.339662
#   Commanded vehicle depth:  890.890138 
#   Seafloor depth:           -947.229800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826750 meters
#   Minimum depth: 933.869695 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.682838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 883.869695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126410;
longitude = -116.237768;
duration = 427;
initialDepth = 888.023653;
finalDepth = 883.869695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.813143
#   Actual altitude:          57.813143
#   Commanded vehicle depth:  883.869695 
#   Seafloor depth:           -941.682838
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826640 meters
#   Minimum depth: 938.023653 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.789995 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.023653 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127312;
longitude = -116.238156;
duration = 427;
initialDepth = 887.347850;
finalDepth = 888.023653;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.813143
#   Actual altitude:          57.813143
#   Commanded vehicle depth:  888.023653 
#   Seafloor depth:           -939.789995
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826528 meters
#   Minimum depth: 937.347850 meters looking forward 100.000000 meters along route
#   Maximum depth: 946.156293 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.347850 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128214;
longitude = -116.238543;
duration = 427;
initialDepth = 879.197497;
finalDepth = 887.347850;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.096936
#   Actual altitude:          58.096936
#   Commanded vehicle depth:  887.34785 
#   Seafloor depth:           -945.444786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826418 meters
#   Minimum depth: 929.197497 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.345818 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.197497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129116;
longitude = -116.238931;
duration = 427;
initialDepth = 865.196585;
finalDepth = 879.197497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.148321
#   Actual altitude:          58.148321
#   Commanded vehicle depth:  879.197497 
#   Seafloor depth:           -937.345818
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826307 meters
#   Minimum depth: 915.196585 meters looking forward 100.000000 meters along route
#   Maximum depth: 922.609171 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 865.196585 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130018;
longitude = -116.239318;
duration = 427;
initialDepth = 861.273386;
finalDepth = 865.196585;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.148321
#   Actual altitude:          58.148321
#   Commanded vehicle depth:  865.196585 
#   Seafloor depth:           -922.609171
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826195 meters
#   Minimum depth: 911.273386 meters looking forward 100.000000 meters along route
#   Maximum depth: 916.037983 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 861.273386 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130920;
longitude = -116.239706;
duration = 427;
initialDepth = 855.617791;
finalDepth = 861.273386;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.4125859999999
#   Actual altitude:          57.4125859999999
#   Commanded vehicle depth:  861.273386 
#   Seafloor depth:           -916.037983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.826085 meters
#   Minimum depth: 905.617791 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.408020 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 855.617791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131822;
longitude = -116.240093;
duration = 427;
initialDepth = 852.309090;
finalDepth = 855.617791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.790229
#   Actual altitude:          54.790229
#   Commanded vehicle depth:  855.617791 
#   Seafloor depth:           -910.408020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.825973 meters
#   Minimum depth: 902.309090 meters looking forward 100.000000 meters along route
#   Maximum depth: 906.263453 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 852.309090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132724;
longitude = -116.240481;
duration = 427;
initialDepth = 843.288453;
finalDepth = 852.309090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.790229
#   Actual altitude:          54.790229
#   Commanded vehicle depth:  852.30909 
#   Seafloor depth:           -906.263453
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 124.630163 meters
#   Minimum depth: 893.288453 meters looking forward 100.000000 meters along route
#   Maximum depth: 901.781568 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 843.288453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133627;
longitude = -116.240868;
duration = 498;
initialDepth = 839.153738;
finalDepth = 843.288453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.493115
#   Actual altitude:          58.493115
#   Commanded vehicle depth:  843.288453 
#   Seafloor depth:           -901.781568
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 166.415846 meters
#   Minimum depth: 889.153738 meters looking forward 100.000000 meters along route
#   Maximum depth: 894.945394 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 839.153738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134679;
longitude = -116.241320;
duration = 665;
# abortOnTimeout    = True; 
initialDepth = 836.935865;
finalDepth = 839.153738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.493115
#   Actual altitude:          58.493115
#   Commanded vehicle depth:  839.153738 
#   Seafloor depth:           -894.945394
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.104432 meters
#   Minimum depth: 886.935865 meters looking forward 100.000000 meters along route
#   Maximum depth: 889.236445 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 836.935865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135127;
longitude = -116.239687;
duration = 420;
initialDepth = 821.862724;
finalDepth = 836.935865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.791656
#   Actual altitude:          55.791656
#   Commanded vehicle depth:  836.935865 
#   Seafloor depth:           -889.236445
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.104189 meters
#   Minimum depth: 871.862724 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.762861 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 821.862724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135410;
longitude = -116.238656;
duration = 420;
initialDepth = 818.014396;
finalDepth = 821.862724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.9001370000001
#   Actual altitude:          66.9001370000001
#   Commanded vehicle depth:  821.862724 
#   Seafloor depth:           -888.762861
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.103947 meters
#   Minimum depth: 868.014396 meters looking forward 100.000000 meters along route
#   Maximum depth: 870.427319 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.014396 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135693;
longitude = -116.237625;
duration = 420;
initialDepth = 822.869041;
finalDepth = 818.014396;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.9001370000001
#   Actual altitude:          66.9001370000001
#   Commanded vehicle depth:  818.014396 
#   Seafloor depth:           -870.427319
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.103704 meters
#   Minimum depth: 872.869041 meters looking forward 100.000000 meters along route
#   Maximum depth: 895.055825 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.869041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135975;
longitude = -116.236593;
duration = 420;
initialDepth = 848.844209;
finalDepth = 822.869041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.412923
#   Actual altitude:          52.412923
#   Commanded vehicle depth:  822.869041 
#   Seafloor depth:           -872.869041
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.103462 meters
#   Minimum depth: 898.844209 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.317038 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 848.844209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136258;
longitude = -116.235562;
duration = 420;
initialDepth = 861.600764;
finalDepth = 848.844209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  848.844209 
#   Seafloor depth:           -898.844209
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.103219 meters
#   Minimum depth: 911.600764 meters looking forward 100.000000 meters along route
#   Maximum depth: 918.514790 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 861.600764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136541;
longitude = -116.234531;
duration = 420;
initialDepth = 868.907807;
finalDepth = 861.600764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  861.600764 
#   Seafloor depth:           -911.600764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.102977 meters
#   Minimum depth: 918.907807 meters looking forward 100.000000 meters along route
#   Maximum depth: 922.298428 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.907807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136824;
longitude = -116.233499;
duration = 420;
initialDepth = 877.266236;
finalDepth = 868.907807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.072058
#   Actual altitude:          50.072058
#   Commanded vehicle depth:  868.907807 
#   Seafloor depth:           -918.979865
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.102734 meters
#   Minimum depth: 927.266236 meters looking forward 100.000000 meters along route
#   Maximum depth: 942.562879 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.266236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137107;
longitude = -116.232468;
duration = 420;
initialDepth = 891.414641;
finalDepth = 877.266236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.072058
#   Actual altitude:          50.072058
#   Commanded vehicle depth:  877.266236 
#   Seafloor depth:           -927.266236
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 110.073550 meters
#   Minimum depth: 941.414641 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.587137 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 891.414641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137390;
longitude = -116.231437;
duration = 440;
initialDepth = 891.692269;
finalDepth = 891.414641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.172496
#   Actual altitude:          53.172496
#   Commanded vehicle depth:  891.414641 
#   Seafloor depth:           -944.587137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.131192 meters
#   Minimum depth: 941.692269 meters looking forward 100.000000 meters along route
#   Maximum depth: 943.292970 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 891.692269 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137686;
longitude = -116.230357;
duration = 400;
initialDepth = 892.780971;
finalDepth = 891.692269;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.172496
#   Actual altitude:          53.172496
#   Commanded vehicle depth:  891.692269 
#   Seafloor depth:           -941.692269
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.102008 meters
#   Minimum depth: 942.780971 meters looking forward 100.000000 meters along route
#   Maximum depth: 943.936801 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.780971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137956;
longitude = -116.229374;
duration = 420;
initialDepth = 887.740660;
finalDepth = 892.780971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1558299999999
#   Actual altitude:          51.1558299999999
#   Commanded vehicle depth:  892.780971 
#   Seafloor depth:           -943.936801
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.101765 meters
#   Minimum depth: 937.740660 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.291097 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.740660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138238;
longitude = -116.228343;
duration = 420;
initialDepth = 884.053198;
finalDepth = 887.740660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.550437
#   Actual altitude:          53.550437
#   Commanded vehicle depth:  887.74066 
#   Seafloor depth:           -941.291097
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 108.652246 meters
#   Minimum depth: 934.053198 meters looking forward 100.000000 meters along route
#   Maximum depth: 938.913521 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.053198 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138521;
longitude = -116.227312;
duration = 434;
initialDepth = 880.814303;
finalDepth = 884.053198;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.860323
#   Actual altitude:          54.860323
#   Commanded vehicle depth:  884.053198 
#   Seafloor depth:           -938.913521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 101.550557 meters
#   Minimum depth: 930.814303 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.551639 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.814303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138814;
longitude = -116.226246;
duration = 406;
initialDepth = 880.610952;
finalDepth = 880.814303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.860323
#   Actual altitude:          54.860323
#   Commanded vehicle depth:  880.814303 
#   Seafloor depth:           -934.551639
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.101039 meters
#   Minimum depth: 930.610952 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.752519 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.610952 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139087;
longitude = -116.225249;
duration = 420;
initialDepth = 882.157295;
finalDepth = 880.610952;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.737336
#   Actual altitude:          53.737336
#   Commanded vehicle depth:  880.610952 
#   Seafloor depth:           -932.059711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 105.100796 meters
#   Minimum depth: 932.157295 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.875176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.157295 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139370;
longitude = -116.224218;
duration = 420;
initialDepth = 888.158312;
finalDepth = 882.157295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.448759
#   Actual altitude:          51.448759
#   Commanded vehicle depth:  882.157295 
#   Seafloor depth:           -932.157295
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 107.230968 meters
#   Minimum depth: 938.158312 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.587473 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.158312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139653;
longitude = -116.223187;
duration = 428;
initialDepth = 895.812665;
finalDepth = 888.158312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.87454
#   Actual altitude:          51.87454
#   Commanded vehicle depth:  888.158312 
#   Seafloor depth:           -940.032852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 111.728246 meters
#   Minimum depth: 945.812665 meters looking forward 100.000000 meters along route
#   Maximum depth: 955.042308 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.812665 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.139941;
longitude = -116.222134;
duration = 446;
initialDepth = 893.961641;
finalDepth = 895.812665;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.87454
#   Actual altitude:          51.87454
#   Commanded vehicle depth:  895.812665 
#   Seafloor depth:           -945.812665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 170.080939 meters
#   Minimum depth: 943.961641 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.574056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.961641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.140242;
longitude = -116.221038;
duration = 680;
# abortOnTimeout    = True; 
initialDepth = 875.811725;
finalDepth = 893.961641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.6124150000001
#   Actual altitude:          62.6124150000001
#   Commanded vehicle depth:  893.961641 
#   Seafloor depth:           -956.574056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.419696 meters
#   Minimum depth: 925.811725 meters looking forward 100.000000 meters along route
#   Maximum depth: 940.247779 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.811725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138814;
longitude = -116.220398;
duration = 429;
initialDepth = 859.946708;
finalDepth = 875.811725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.436054
#   Actual altitude:          64.436054
#   Commanded vehicle depth:  875.811725 
#   Seafloor depth:           -940.247779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 110.552898 meters
#   Minimum depth: 909.946708 meters looking forward 100.000000 meters along route
#   Maximum depth: 926.252607 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 859.946708 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137912;
longitude = -116.219993;
duration = 442;
initialDepth = 847.447049;
finalDepth = 859.946708;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.3058990000001
#   Actual altitude:          66.3058990000001
#   Commanded vehicle depth:  859.946708 
#   Seafloor depth:           -926.252607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 104.286860 meters
#   Minimum depth: 897.447049 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.762662 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 847.447049 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136983;
longitude = -116.219577;
duration = 417;
initialDepth = 817.938369;
finalDepth = 847.447049;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.3058990000001
#   Actual altitude:          66.3058990000001
#   Commanded vehicle depth:  847.447049 
#   Seafloor depth:           -909.762662
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.420061 meters
#   Minimum depth: 867.938369 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.752627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 817.938369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136107;
longitude = -116.219185;
duration = 429;
initialDepth = 803.293953;
finalDepth = 817.938369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.814258
#   Actual altitude:          70.814258
#   Commanded vehicle depth:  817.938369 
#   Seafloor depth:           -888.752627
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.420182 meters
#   Minimum depth: 853.293953 meters looking forward 100.000000 meters along route
#   Maximum depth: 867.301255 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.293953 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135205;
longitude = -116.218780;
duration = 429;
initialDepth = 787.505864;
finalDepth = 803.293953;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.814258
#   Actual altitude:          70.814258
#   Commanded vehicle depth:  803.293953 
#   Seafloor depth:           -867.301255
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.420303 meters
#   Minimum depth: 837.505864 meters looking forward 100.000000 meters along route
#   Maximum depth: 847.340629 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 787.505864 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134303;
longitude = -116.218376;
duration = 429;
initialDepth = 781.435683;
finalDepth = 787.505864;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.007302
#   Actual altitude:          64.007302
#   Commanded vehicle depth:  787.505864 
#   Seafloor depth:           -847.340629
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.420425 meters
#   Minimum depth: 831.435683 meters looking forward 100.000000 meters along route
#   Maximum depth: 835.176979 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.435683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133401;
longitude = -116.217971;
duration = 429;
initialDepth = 776.305217;
finalDepth = 781.435683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8347650000001
#   Actual altitude:          59.8347650000001
#   Commanded vehicle depth:  781.435683 
#   Seafloor depth:           -835.176979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.420546 meters
#   Minimum depth: 826.305217 meters looking forward 100.000000 meters along route
#   Maximum depth: 830.392939 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 776.305217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132499;
longitude = -116.217567;
duration = 429;
initialDepth = 781.584634;
finalDepth = 776.305217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7412959999999
#   Actual altitude:          53.7412959999999
#   Commanded vehicle depth:  776.305217 
#   Seafloor depth:           -826.305217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 111.896532 meters
#   Minimum depth: 831.584634 meters looking forward 100.000000 meters along route
#   Maximum depth: 838.886297 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.584634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.217162;
duration = 447;
initialDepth = 788.405012;
finalDepth = 781.584634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  781.584634 
#   Seafloor depth:           -831.584634
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.944925 meters
#   Minimum depth: 838.405012 meters looking forward 100.000000 meters along route
#   Maximum depth: 840.455261 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 788.405012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130657;
longitude = -116.216741;
duration = 411;
initialDepth = 792.214770;
finalDepth = 788.405012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3582829999999
#   Actual altitude:          50.3582829999999
#   Commanded vehicle depth:  788.405012 
#   Seafloor depth:           -838.763295
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 125.324407 meters
#   Minimum depth: 842.214770 meters looking forward 100.000000 meters along route
#   Maximum depth: 844.282633 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 792.214770 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.216354;
duration = 501;
initialDepth = 794.708822;
finalDepth = 792.214770;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.3582829999999
#   Actual altitude:          50.3582829999999
#   Commanded vehicle depth:  792.21477 
#   Seafloor depth:           -842.492277
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 115.603188 meters
#   Minimum depth: 844.708822 meters looking forward 100.000000 meters along route
#   Maximum depth: 856.901282 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 794.708822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128740;
longitude = -116.215882;
duration = 462;
# abortOnTimeout    = True; 
initialDepth = 806.409309;
finalDepth = 794.708822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2775069999999
#   Actual altitude:          50.2775069999999
#   Commanded vehicle depth:  794.708822 
#   Seafloor depth:           -844.708822
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.710926 meters
#   Minimum depth: 856.409309 meters looking forward 100.000000 meters along route
#   Maximum depth: 865.591207 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 806.409309 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128385;
longitude = -116.216999;
duration = 426;
initialDepth = 812.093672;
finalDepth = 806.409309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.101311
#   Actual altitude:          50.101311
#   Commanded vehicle depth:  806.409309 
#   Seafloor depth:           -856.510620
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.711204 meters
#   Minimum depth: 862.093672 meters looking forward 100.000000 meters along route
#   Maximum depth: 865.671716 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.093672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128057;
longitude = -116.218030;
duration = 426;
initialDepth = 814.815189;
finalDepth = 812.093672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.74
#   Actual altitude:          50.74
#   Commanded vehicle depth:  812.093672 
#   Seafloor depth:           -862.833672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.711484 meters
#   Minimum depth: 864.815189 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.600562 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.815189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127729;
longitude = -116.219062;
duration = 426;
initialDepth = 816.156696;
finalDepth = 814.815189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.74
#   Actual altitude:          50.74
#   Commanded vehicle depth:  814.815189 
#   Seafloor depth:           -864.815189
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.711762 meters
#   Minimum depth: 866.156696 meters looking forward 100.000000 meters along route
#   Maximum depth: 875.238607 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 816.156696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127401;
longitude = -116.220093;
duration = 426;
initialDepth = 825.371046;
finalDepth = 816.156696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  816.156696 
#   Seafloor depth:           -866.156696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.712040 meters
#   Minimum depth: 875.371046 meters looking forward 100.000000 meters along route
#   Maximum depth: 881.006560 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 825.371046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127072;
longitude = -116.221124;
duration = 426;
initialDepth = 834.743730;
finalDepth = 825.371046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  825.371046 
#   Seafloor depth:           -875.371046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 108.935496 meters
#   Minimum depth: 884.743730 meters looking forward 100.000000 meters along route
#   Maximum depth: 894.005944 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.743730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126744;
longitude = -116.222155;
duration = 435;
initialDepth = 844.375946;
finalDepth = 834.743730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  834.74373 
#   Seafloor depth:           -884.743730
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 104.489422 meters
#   Minimum depth: 894.375946 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.334905 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.375946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126410;
longitude = -116.223208;
duration = 417;
initialDepth = 858.960950;
finalDepth = 844.375946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  844.375946 
#   Seafloor depth:           -894.375946
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.712878 meters
#   Minimum depth: 908.960950 meters looking forward 100.000000 meters along route
#   Maximum depth: 919.325236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 858.960950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126088;
longitude = -116.224218;
duration = 426;
initialDepth = 874.305829;
finalDepth = 858.960950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  858.96095 
#   Seafloor depth:           -908.960950
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.713156 meters
#   Minimum depth: 924.305829 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.602514 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.305829 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125760;
longitude = -116.225249;
duration = 426;
initialDepth = 891.812764;
finalDepth = 874.305829;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  874.305829 
#   Seafloor depth:           -924.305829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.713435 meters
#   Minimum depth: 941.812764 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.250268 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 891.812764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125432;
longitude = -116.226281;
duration = 426;
initialDepth = 910.700336;
finalDepth = 891.812764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  891.812764 
#   Seafloor depth:           -941.812764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.713715 meters
#   Minimum depth: 960.700336 meters looking forward 100.000000 meters along route
#   Maximum depth: 964.546006 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 910.700336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125104;
longitude = -116.227312;
duration = 426;
initialDepth = 913.789144;
finalDepth = 910.700336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  910.700336 
#   Seafloor depth:           -960.700336
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.713993 meters
#   Minimum depth: 963.789144 meters looking forward 100.000000 meters along route
#   Maximum depth: 964.229074 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 913.789144 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124776;
longitude = -116.228343;
duration = 426;
initialDepth = 901.443019;
finalDepth = 913.789144;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3708370000001
#   Actual altitude:          50.3708370000001
#   Commanded vehicle depth:  913.789144 
#   Seafloor depth:           -964.159981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.714272 meters
#   Minimum depth: 951.443019 meters looking forward 100.000000 meters along route
#   Maximum depth: 960.484617 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.443019 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124448;
longitude = -116.229374;
duration = 426;
initialDepth = 892.389192;
finalDepth = 901.443019;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.0415979999999
#   Actual altitude:          59.0415979999999
#   Commanded vehicle depth:  901.443019 
#   Seafloor depth:           -960.484617
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.714551 meters
#   Minimum depth: 942.389192 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.983994 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.389192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124120;
longitude = -116.230406;
duration = 426;
initialDepth = 884.101563;
finalDepth = 892.389192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.0415979999999
#   Actual altitude:          59.0415979999999
#   Commanded vehicle depth:  892.389192 
#   Seafloor depth:           -949.983994
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.714830 meters
#   Minimum depth: 934.101563 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.938314 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.101563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123792;
longitude = -116.231437;
duration = 426;
initialDepth = 884.200199;
finalDepth = 884.101563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5948020000001
#   Actual altitude:          57.5948020000001
#   Commanded vehicle depth:  884.101563 
#   Seafloor depth:           -939.938314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 106.715110 meters
#   Minimum depth: 934.200199 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.028897 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.200199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123464;
longitude = -116.232468;
duration = 426;
initialDepth = 888.499423;
finalDepth = 884.200199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.8367509999999
#   Actual altitude:          55.8367509999999
#   Commanded vehicle depth:  884.200199 
#   Seafloor depth:           -934.200199
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 108.938628 meters
#   Minimum depth: 938.499423 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.637854 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.499423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123136;
longitude = -116.233499;
duration = 435;
initialDepth = 894.162430;
finalDepth = 888.499423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.00391
#   Actual altitude:          50.00391
#   Commanded vehicle depth:  888.499423 
#   Seafloor depth:           -938.503333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 122.278400 meters
#   Minimum depth: 944.162430 meters looking forward 100.000000 meters along route
#   Maximum depth: 946.360152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.162430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122801;
longitude = -116.234552;
duration = 489;
initialDepth = 892.578125;
finalDepth = 894.162430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.00391
#   Actual altitude:          50.00391
#   Commanded vehicle depth:  894.16243 
#   Seafloor depth:           -944.162430
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 124.290506 meters
#   Minimum depth: 942.578125 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.597842 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.578125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.122425;
longitude = -116.235734;
duration = 497;
# abortOnTimeout    = True; 
initialDepth = 897.293527;
finalDepth = 892.578125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  892.578125 
#   Seafloor depth:           -942.578125
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.534606 meters
#   Minimum depth: 947.293527 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.705570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.293527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.123478;
longitude = -116.236176;
duration = 426;
initialDepth = 901.994647;
finalDepth = 897.293527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  897.293527 
#   Seafloor depth:           -947.293527
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.534499 meters
#   Minimum depth: 951.994647 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.894142 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.994647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124380;
longitude = -116.236555;
duration = 426;
initialDepth = 888.750266;
finalDepth = 901.994647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.966875
#   Actual altitude:          50.966875
#   Commanded vehicle depth:  901.994647 
#   Seafloor depth:           -952.961522
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.534393 meters
#   Minimum depth: 938.750266 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.147563 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.750266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125282;
longitude = -116.236934;
duration = 426;
initialDepth = 885.207855;
finalDepth = 888.750266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.397297
#   Actual altitude:          60.397297
#   Commanded vehicle depth:  888.750266 
#   Seafloor depth:           -949.147563
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.534288 meters
#   Minimum depth: 935.207855 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.341996 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 885.207855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126184;
longitude = -116.237312;
duration = 426;
initialDepth = 884.851031;
finalDepth = 885.207855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.397297
#   Actual altitude:          60.397297
#   Commanded vehicle depth:  885.207855 
#   Seafloor depth:           -940.700416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.534181 meters
#   Minimum depth: 934.851031 meters looking forward 100.000000 meters along route
#   Maximum depth: 940.193982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.851031 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127086;
longitude = -116.237691;
duration = 426;
initialDepth = 889.982494;
finalDepth = 884.851031;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.492561
#   Actual altitude:          55.492561
#   Commanded vehicle depth:  884.851031 
#   Seafloor depth:           -938.595797
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.534076 meters
#   Minimum depth: 939.982494 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.839890 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.982494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127988;
longitude = -116.238070;
duration = 426;
initialDepth = 880.826370;
finalDepth = 889.982494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7447659999999
#   Actual altitude:          53.7447659999999
#   Commanded vehicle depth:  889.982494 
#   Seafloor depth:           -941.693711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.533969 meters
#   Minimum depth: 930.826370 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.150138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.826370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128890;
longitude = -116.238449;
duration = 426;
initialDepth = 864.903958;
finalDepth = 880.826370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.323768
#   Actual altitude:          58.323768
#   Commanded vehicle depth:  880.82637 
#   Seafloor depth:           -939.150138
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.533864 meters
#   Minimum depth: 914.903958 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.906250 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 864.903958 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.238828;
duration = 426;
initialDepth = 862.146577;
finalDepth = 864.903958;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.002292
#   Actual altitude:          63.002292
#   Commanded vehicle depth:  864.903958 
#   Seafloor depth:           -927.906250
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.533757 meters
#   Minimum depth: 912.146577 meters looking forward 100.000000 meters along route
#   Maximum depth: 914.043145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.146577 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130695;
longitude = -116.239207;
duration = 426;
initialDepth = 854.998240;
finalDepth = 862.146577;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.002292
#   Actual altitude:          63.002292
#   Commanded vehicle depth:  862.146577 
#   Seafloor depth:           -914.043145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.533652 meters
#   Minimum depth: 904.998240 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.676162 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 854.998240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.239585;
duration = 426;
initialDepth = 849.012233;
finalDepth = 854.998240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.677922
#   Actual altitude:          54.677922
#   Commanded vehicle depth:  854.99824 
#   Seafloor depth:           -909.676162
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 115.411336 meters
#   Minimum depth: 899.012233 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.853054 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.012233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132499;
longitude = -116.239964;
duration = 461;
initialDepth = 846.647913;
finalDepth = 849.012233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.840821
#   Actual altitude:          55.840821
#   Commanded vehicle depth:  849.012233 
#   Seafloor depth:           -904.853054
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 96.408257 meters
#   Minimum depth: 896.647913 meters looking forward 100.000000 meters along route
#   Maximum depth: 900.766644 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 846.647913 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133476;
longitude = -116.240375;
duration = 385;
# abortOnTimeout    = True; 
initialDepth = 841.458362;
finalDepth = 846.647913;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.840821
#   Actual altitude:          55.840821
#   Commanded vehicle depth:  846.647913 
#   Seafloor depth:           -899.355632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.172410 meters
#   Minimum depth: 891.458362 meters looking forward 100.000000 meters along route
#   Maximum depth: 895.526057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 841.458362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133737;
longitude = -116.239429;
duration = 420;
initialDepth = 830.833153;
finalDepth = 841.458362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0676950000001
#   Actual altitude:          54.0676950000001
#   Commanded vehicle depth:  841.458362 
#   Seafloor depth:           -895.526057
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.172165 meters
#   Minimum depth: 880.833153 meters looking forward 100.000000 meters along route
#   Maximum depth: 890.047971 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.833153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134022;
longitude = -116.238398;
duration = 420;
initialDepth = 828.430784;
finalDepth = 830.833153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.1848309999999
#   Actual altitude:          58.1848309999999
#   Commanded vehicle depth:  830.833153 
#   Seafloor depth:           -889.017984
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.171922 meters
#   Minimum depth: 878.430784 meters looking forward 100.000000 meters along route
#   Maximum depth: 881.170024 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 828.430784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134307;
longitude = -116.237367;
duration = 420;
initialDepth = 829.188982;
finalDepth = 828.430784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.1848309999999
#   Actual altitude:          58.1848309999999
#   Commanded vehicle depth:  828.430784 
#   Seafloor depth:           -881.170024
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.171677 meters
#   Minimum depth: 879.188982 meters looking forward 100.000000 meters along route
#   Maximum depth: 913.414022 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 829.188982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134592;
longitude = -116.236336;
duration = 420;
initialDepth = 857.369647;
finalDepth = 829.188982;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.73924
#   Actual altitude:          52.73924
#   Commanded vehicle depth:  829.188982 
#   Seafloor depth:           -879.188982
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.171434 meters
#   Minimum depth: 914.928327 meters looking forward 100.000000 meters along route
#   Maximum depth: 918.810227 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 857.369647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134877;
longitude = -116.235304;
duration = 420;
initialDepth = 859.569967;
finalDepth = 857.369647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.4405795846213
#   Actual altitude:          61.4405795846213
#   Commanded vehicle depth:  857.369647415379 
#   Seafloor depth:           -918.810227
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.171189 meters
#   Minimum depth: 909.569967 meters looking forward 100.000000 meters along route
#   Maximum depth: 917.222882 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 859.569967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135162;
longitude = -116.234273;
duration = 420;
initialDepth = 857.983170;
finalDepth = 859.569967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.4405795846213
#   Actual altitude:          61.4405795846213
#   Commanded vehicle depth:  859.569967 
#   Seafloor depth:           -917.222882
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.170945 meters
#   Minimum depth: 907.983170 meters looking forward 100.000000 meters along route
#   Maximum depth: 913.085868 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 857.983170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135447;
longitude = -116.233242;
duration = 420;
initialDepth = 869.347310;
finalDepth = 857.983170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.652915
#   Actual altitude:          57.652915
#   Commanded vehicle depth:  857.98317 
#   Seafloor depth:           -909.192915
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.170701 meters
#   Minimum depth: 919.347310 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.100446 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 869.347310 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135731;
longitude = -116.232210;
duration = 420;
initialDepth = 897.527714;
finalDepth = 869.347310;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.209745
#   Actual altitude:          51.209745
#   Commanded vehicle depth:  869.34731 
#   Seafloor depth:           -919.347310
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.170457 meters
#   Minimum depth: 954.279904 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.140156 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.527714 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136016;
longitude = -116.231179;
duration = 420;
initialDepth = 901.422331;
finalDepth = 897.527714;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.7521901030292
#   Actual altitude:          56.7521901030292
#   Commanded vehicle depth:  897.527713896971 
#   Seafloor depth:           -954.279904
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.170213 meters
#   Minimum depth: 951.422331 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.616573 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.422331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136301;
longitude = -116.230148;
duration = 420;
initialDepth = 903.330799;
finalDepth = 901.422331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.7521901030292
#   Actual altitude:          56.7521901030292
#   Commanded vehicle depth:  901.422331 
#   Seafloor depth:           -954.616573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.169969 meters
#   Minimum depth: 953.330799 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.116720 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 903.330799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136586;
longitude = -116.229117;
duration = 420;
initialDepth = 904.718845;
finalDepth = 903.330799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.194242
#   Actual altitude:          53.194242
#   Commanded vehicle depth:  903.330799 
#   Seafloor depth:           -953.330799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.169725 meters
#   Minimum depth: 954.718845 meters looking forward 100.000000 meters along route
#   Maximum depth: 956.794963 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 904.718845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136871;
longitude = -116.228085;
duration = 420;
initialDepth = 903.200311;
finalDepth = 904.718845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  904.718845 
#   Seafloor depth:           -954.718845
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.169481 meters
#   Minimum depth: 953.200311 meters looking forward 100.000000 meters along route
#   Maximum depth: 958.694078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 903.200311 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137156;
longitude = -116.227054;
duration = 420;
initialDepth = 886.709995;
finalDepth = 903.200311;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9165009999999
#   Actual altitude:          52.9165009999999
#   Commanded vehicle depth:  903.200311 
#   Seafloor depth:           -956.116812
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.169237 meters
#   Minimum depth: 936.709995 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.027616 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.709995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137441;
longitude = -116.226023;
duration = 420;
initialDepth = 882.961940;
finalDepth = 886.709995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.3176209999999
#   Actual altitude:          62.3176209999999
#   Commanded vehicle depth:  886.709995 
#   Seafloor depth:           -949.027616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.168994 meters
#   Minimum depth: 932.961940 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.648408 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.961940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137726;
longitude = -116.224991;
duration = 420;
initialDepth = 882.596672;
finalDepth = 882.961940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.3176209999999
#   Actual altitude:          62.3176209999999
#   Commanded vehicle depth:  882.96194 
#   Seafloor depth:           -934.552673
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 105.168749 meters
#   Minimum depth: 932.596672 meters looking forward 100.000000 meters along route
#   Maximum depth: 936.539266 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.596672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138011;
longitude = -116.223960;
duration = 420;
initialDepth = 885.198503;
finalDepth = 882.596672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.590733
#   Actual altitude:          51.590733
#   Commanded vehicle depth:  882.596672 
#   Seafloor depth:           -932.596672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 108.089850 meters
#   Minimum depth: 935.198503 meters looking forward 100.000000 meters along route
#   Maximum depth: 938.830214 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 885.198503 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138295;
longitude = -116.222929;
duration = 432;
initialDepth = 885.633606;
finalDepth = 885.198503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.921821
#   Actual altitude:          51.921821
#   Commanded vehicle depth:  885.198503 
#   Seafloor depth:           -937.120324
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 111.010928 meters
#   Minimum depth: 935.633606 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.812924 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 885.633606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138588;
longitude = -116.221869;
duration = 444;
initialDepth = 882.011785;
finalDepth = 885.633606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.921821
#   Actual altitude:          51.921821
#   Commanded vehicle depth:  885.633606 
#   Seafloor depth:           -935.633606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 89.001102 meters
#   Minimum depth: 932.011785 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.052897 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.011785 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138889;
longitude = -116.220780;
duration = 356;
# abortOnTimeout    = True; 
initialDepth = 862.380933;
finalDepth = 882.011785;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.041112
#   Actual altitude:          59.041112
#   Commanded vehicle depth:  882.011785 
#   Seafloor depth:           -941.052897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.801423 meters
#   Minimum depth: 912.380933 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.971481 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.380933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.138137;
longitude = -116.220458;
duration = 427;
initialDepth = 849.789396;
finalDepth = 862.380933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.590548
#   Actual altitude:          65.590548
#   Commanded vehicle depth:  862.380933 
#   Seafloor depth:           -927.971481
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.801534 meters
#   Minimum depth: 899.789396 meters looking forward 100.000000 meters along route
#   Maximum depth: 915.439240 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.789396 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137235;
longitude = -116.220071;
duration = 427;
initialDepth = 818.608236;
finalDepth = 849.789396;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.649844
#   Actual altitude:          65.649844
#   Commanded vehicle depth:  849.789396 
#   Seafloor depth:           -915.439240
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.801645 meters
#   Minimum depth: 868.608236 meters looking forward 100.000000 meters along route
#   Maximum depth: 896.291718 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.608236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136333;
longitude = -116.219685;
duration = 427;
initialDepth = 804.833694;
finalDepth = 818.608236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.6834819999999
#   Actual altitude:          77.6834819999999
#   Commanded vehicle depth:  818.608236 
#   Seafloor depth:           -896.291718
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.801756 meters
#   Minimum depth: 854.833694 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.029806 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.833694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135431;
longitude = -116.219298;
duration = 427;
initialDepth = 786.318427;
finalDepth = 804.833694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.6834819999999
#   Actual altitude:          77.6834819999999
#   Commanded vehicle depth:  804.833694 
#   Seafloor depth:           -868.029806
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.801867 meters
#   Minimum depth: 836.318427 meters looking forward 100.000000 meters along route
#   Maximum depth: 852.393321 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 786.318427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134529;
longitude = -116.218911;
duration = 427;
initialDepth = 781.171552;
finalDepth = 786.318427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.074894
#   Actual altitude:          66.074894
#   Commanded vehicle depth:  786.318427 
#   Seafloor depth:           -852.393321
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.801977 meters
#   Minimum depth: 831.171552 meters looking forward 100.000000 meters along route
#   Maximum depth: 836.743645 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 781.171552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133627;
longitude = -116.218524;
duration = 427;
initialDepth = 779.999685;
finalDepth = 781.171552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.074894
#   Actual altitude:          66.074894
#   Commanded vehicle depth:  781.171552 
#   Seafloor depth:           -835.960759
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.802088 meters
#   Minimum depth: 829.999685 meters looking forward 100.000000 meters along route
#   Maximum depth: 833.841973 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 779.999685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132724;
longitude = -116.218138;
duration = 427;
initialDepth = 783.265368;
finalDepth = 779.999685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.789207
#   Actual altitude:          54.789207
#   Commanded vehicle depth:  779.999685 
#   Seafloor depth:           -831.628052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.802199 meters
#   Minimum depth: 833.265368 meters looking forward 100.000000 meters along route
#   Maximum depth: 838.836220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 783.265368 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131822;
longitude = -116.217751;
duration = 427;
initialDepth = 791.048365;
finalDepth = 783.265368;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.628367
#   Actual altitude:          51.628367
#   Commanded vehicle depth:  783.265368 
#   Seafloor depth:           -834.092672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 124.602705 meters
#   Minimum depth: 841.048365 meters looking forward 100.000000 meters along route
#   Maximum depth: 843.161176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 791.048365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130920;
longitude = -116.217364;
duration = 498;
initialDepth = 793.699300;
finalDepth = 791.048365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.827304
#   Actual altitude:          50.827304
#   Commanded vehicle depth:  791.048365 
#   Seafloor depth:           -841.048365
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 88.096808 meters
#   Minimum depth: 843.699300 meters looking forward 100.000000 meters along route
#   Maximum depth: 849.036811 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 793.699300 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129868;
longitude = -116.216913;
duration = 352;
# abortOnTimeout    = True; 
initialDepth = 803.853550;
finalDepth = 793.699300;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  793.6993 
#   Seafloor depth:           -843.699300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.716404 meters
#   Minimum depth: 853.853550 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.381042 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.853550 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129617;
longitude = -116.217772;
duration = 422;
initialDepth = 812.702494;
finalDepth = 803.853550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.85355 
#   Seafloor depth:           -853.853550
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.716660 meters
#   Minimum depth: 862.702494 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.923530 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.702494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129316;
longitude = -116.218804;
duration = 422;
initialDepth = 819.291036;
finalDepth = 812.702494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  812.702494 
#   Seafloor depth:           -862.702494
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.716918 meters
#   Minimum depth: 869.291036 meters looking forward 100.000000 meters along route
#   Maximum depth: 871.887404 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 819.291036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129016;
longitude = -116.219835;
duration = 422;
initialDepth = 823.517348;
finalDepth = 819.291036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  819.291036 
#   Seafloor depth:           -869.291036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.717174 meters
#   Minimum depth: 873.517348 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.771037 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 823.517348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128715;
longitude = -116.220866;
duration = 422;
initialDepth = 834.327962;
finalDepth = 823.517348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  823.517348 
#   Seafloor depth:           -873.517348
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.717431 meters
#   Minimum depth: 884.327962 meters looking forward 100.000000 meters along route
#   Maximum depth: 893.926507 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.327962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128414;
longitude = -116.221898;
duration = 422;
initialDepth = 844.785190;
finalDepth = 834.327962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  834.327962 
#   Seafloor depth:           -884.327962
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.717688 meters
#   Minimum depth: 894.785190 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.623488 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.785190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128114;
longitude = -116.222929;
duration = 422;
initialDepth = 856.224657;
finalDepth = 844.785190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  844.78519 
#   Seafloor depth:           -894.785190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.717945 meters
#   Minimum depth: 906.224657 meters looking forward 100.000000 meters along route
#   Maximum depth: 920.138143 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 856.224657 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127813;
longitude = -116.223960;
duration = 422;
initialDepth = 871.119107;
finalDepth = 856.224657;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  856.224657 
#   Seafloor depth:           -906.224657
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.718201 meters
#   Minimum depth: 921.119107 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.012417 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.119107 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127512;
longitude = -116.224991;
duration = 422;
initialDepth = 883.919603;
finalDepth = 871.119107;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  871.119107 
#   Seafloor depth:           -921.119107
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.718459 meters
#   Minimum depth: 933.919603 meters looking forward 100.000000 meters along route
#   Maximum depth: 940.202087 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 883.919603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127211;
longitude = -116.226023;
duration = 422;
initialDepth = 890.564779;
finalDepth = 883.919603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  883.919603 
#   Seafloor depth:           -933.919603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.718715 meters
#   Minimum depth: 940.564779 meters looking forward 100.000000 meters along route
#   Maximum depth: 943.274211 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.564779 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126911;
longitude = -116.227054;
duration = 422;
initialDepth = 893.375678;
finalDepth = 890.564779;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  890.564779 
#   Seafloor depth:           -940.564779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.718972 meters
#   Minimum depth: 943.375678 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.473945 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.375678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126610;
longitude = -116.228085;
duration = 422;
initialDepth = 892.543599;
finalDepth = 893.375678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  893.375678 
#   Seafloor depth:           -943.375678
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.719229 meters
#   Minimum depth: 942.543599 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.985908 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.543599 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126309;
longitude = -116.229117;
duration = 422;
initialDepth = 889.224772;
finalDepth = 892.543599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.940111
#   Actual altitude:          51.940111
#   Commanded vehicle depth:  892.543599 
#   Seafloor depth:           -944.483710
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.719487 meters
#   Minimum depth: 939.224772 meters looking forward 100.000000 meters along route
#   Maximum depth: 943.546570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.224772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126009;
longitude = -116.230148;
duration = 422;
initialDepth = 881.381158;
finalDepth = 889.224772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.3217979999999
#   Actual altitude:          54.3217979999999
#   Commanded vehicle depth:  889.224772 
#   Seafloor depth:           -943.546570
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.719743 meters
#   Minimum depth: 931.381158 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.220215 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.381158 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125708;
longitude = -116.231179;
duration = 422;
initialDepth = 879.238336;
finalDepth = 881.381158;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.839057
#   Actual altitude:          57.839057
#   Commanded vehicle depth:  881.381158 
#   Seafloor depth:           -939.220215
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.720000 meters
#   Minimum depth: 929.238336 meters looking forward 100.000000 meters along route
#   Maximum depth: 930.176656 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.238336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125407;
longitude = -116.232210;
duration = 422;
initialDepth = 880.907118;
finalDepth = 879.238336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.839057
#   Actual altitude:          57.839057
#   Commanded vehicle depth:  879.238336 
#   Seafloor depth:           -929.665622
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.720257 meters
#   Minimum depth: 930.907118 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.419271 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.907118 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125107;
longitude = -116.233242;
duration = 422;
initialDepth = 887.878160;
finalDepth = 880.907118;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.427286
#   Actual altitude:          50.427286
#   Commanded vehicle depth:  880.907118 
#   Seafloor depth:           -930.907118
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 123.340626 meters
#   Minimum depth: 937.878160 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.749864 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 887.878160 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124806;
longitude = -116.234273;
duration = 493;
initialDepth = 894.037713;
finalDepth = 887.878160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  887.87816 
#   Seafloor depth:           -937.878160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 158.103719 meters
#   Minimum depth: 944.037713 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.437812 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.037713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124455;
longitude = -116.235476;
duration = 632;
# abortOnTimeout    = True; 
initialDepth = 882.704497;
finalDepth = 894.037713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.6542629999999
#   Actual altitude:          52.6542629999999
#   Commanded vehicle depth:  894.037713 
#   Seafloor depth:           -946.691976
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 175.711985 meters
#   Minimum depth: 932.704497 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.938232 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.704497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125808;
longitude = -116.235992;
duration = 702;
# abortOnTimeout    = True; 
initialDepth = 880.495439;
finalDepth = 882.704497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.233735
#   Actual altitude:          62.233735
#   Commanded vehicle depth:  882.704497 
#   Seafloor depth:           -944.938232
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.426857 meters
#   Minimum depth: 930.495439 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.594300 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.495439 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126295;
longitude = -116.234273;
duration = 421;
initialDepth = 875.450109;
finalDepth = 880.495439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.233735
#   Actual altitude:          62.233735
#   Commanded vehicle depth:  880.495439 
#   Seafloor depth:           -931.594300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.426607 meters
#   Minimum depth: 925.450109 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.301532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.450109 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126587;
longitude = -116.233242;
duration = 421;
initialDepth = 880.099308;
finalDepth = 875.450109;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.847866
#   Actual altitude:          53.847866
#   Commanded vehicle depth:  875.450109 
#   Seafloor depth:           -929.297975
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.426357 meters
#   Minimum depth: 930.099308 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.590343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.099308 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126880;
longitude = -116.232210;
duration = 421;
initialDepth = 879.702996;
finalDepth = 880.099308;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.847866
#   Actual altitude:          53.847866
#   Commanded vehicle depth:  880.099308 
#   Seafloor depth:           -933.590343
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.426107 meters
#   Minimum depth: 929.702996 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.768377 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.702996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127172;
longitude = -116.231179;
duration = 421;
initialDepth = 875.764282;
finalDepth = 879.702996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.491035
#   Actual altitude:          53.491035
#   Commanded vehicle depth:  879.702996 
#   Seafloor depth:           -929.858972
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 107.717721 meters
#   Minimum depth: 925.764282 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.492981 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.764282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127464;
longitude = -116.230148;
duration = 430;
initialDepth = 875.388168;
finalDepth = 875.764282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.118455
#   Actual altitude:          53.118455
#   Commanded vehicle depth:  875.764282 
#   Seafloor depth:           -928.882737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 103.133743 meters
#   Minimum depth: 925.388168 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.799919 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.388168 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127763;
longitude = -116.229094;
duration = 412;
initialDepth = 876.861058;
finalDepth = 875.388168;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.118455
#   Actual altitude:          53.118455
#   Commanded vehicle depth:  875.388168 
#   Seafloor depth:           -925.739953
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.425357 meters
#   Minimum depth: 926.861058 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.519449 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 876.861058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128049;
longitude = -116.228085;
duration = 421;
initialDepth = 875.682998;
finalDepth = 876.861058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2771320000001
#   Actual altitude:          51.2771320000001
#   Commanded vehicle depth:  876.861058 
#   Seafloor depth:           -928.138190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.425108 meters
#   Minimum depth: 925.682998 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.224209 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.682998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128341;
longitude = -116.227054;
duration = 421;
initialDepth = 875.294513;
finalDepth = 875.682998;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2771320000001
#   Actual altitude:          51.2771320000001
#   Commanded vehicle depth:  875.682998 
#   Seafloor depth:           -926.471349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.424857 meters
#   Minimum depth: 925.294513 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.758604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.294513 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128633;
longitude = -116.226023;
duration = 421;
initialDepth = 863.626960;
finalDepth = 875.294513;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7148119999999
#   Actual altitude:          52.7148119999999
#   Commanded vehicle depth:  875.294513 
#   Seafloor depth:           -928.009325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.424607 meters
#   Minimum depth: 913.626960 meters looking forward 100.000000 meters along route
#   Maximum depth: 924.403897 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.626960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128925;
longitude = -116.224991;
duration = 421;
initialDepth = 849.748894;
finalDepth = 863.626960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.776937
#   Actual altitude:          60.776937
#   Commanded vehicle depth:  863.62696 
#   Seafloor depth:           -924.403897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.424357 meters
#   Minimum depth: 899.748894 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.159190 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.748894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129218;
longitude = -116.223960;
duration = 421;
initialDepth = 830.822523;
finalDepth = 849.748894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.776937
#   Actual altitude:          60.776937
#   Commanded vehicle depth:  849.748894 
#   Seafloor depth:           -910.159190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.424108 meters
#   Minimum depth: 880.822523 meters looking forward 100.000000 meters along route
#   Maximum depth: 896.880049 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.822523 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129510;
longitude = -116.222929;
duration = 421;
initialDepth = 824.531436;
finalDepth = 830.822523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.0575259999999
#   Actual altitude:          66.0575259999999
#   Commanded vehicle depth:  830.822523 
#   Seafloor depth:           -896.880049
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.423857 meters
#   Minimum depth: 874.531436 meters looking forward 100.000000 meters along route
#   Maximum depth: 880.149774 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 824.531436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129802;
longitude = -116.221898;
duration = 421;
initialDepth = 815.907988;
finalDepth = 824.531436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.0575259999999
#   Actual altitude:          66.0575259999999
#   Commanded vehicle depth:  824.531436 
#   Seafloor depth:           -880.149774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.423608 meters
#   Minimum depth: 865.907988 meters looking forward 100.000000 meters along route
#   Maximum depth: 872.787775 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 815.907988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130094;
longitude = -116.220866;
duration = 421;
initialDepth = 801.165664;
finalDepth = 815.907988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.879787
#   Actual altitude:          56.879787
#   Commanded vehicle depth:  815.907988 
#   Seafloor depth:           -872.787775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 111.152881 meters
#   Minimum depth: 851.165664 meters looking forward 100.000000 meters along route
#   Maximum depth: 863.526286 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 801.165664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130387;
longitude = -116.219835;
duration = 444;
initialDepth = 792.580391;
finalDepth = 801.165664;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.360622
#   Actual altitude:          62.360622
#   Commanded vehicle depth:  801.165664 
#   Seafloor depth:           -863.526286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 108.478833 meters
#   Minimum depth: 842.580391 meters looking forward 100.000000 meters along route
#   Maximum depth: 849.987541 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 792.580391 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130695;
longitude = -116.218748;
duration = 433;
initialDepth = 784.291853;
finalDepth = 792.580391;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.360622
#   Actual altitude:          62.360622
#   Commanded vehicle depth:  792.580391 
#   Seafloor depth:           -849.987541
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 124.781153 meters
#   Minimum depth: 834.291853 meters looking forward 100.000000 meters along route
#   Maximum depth: 841.799723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 784.291853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130995;
longitude = -116.217686;
duration = 499;
# abortOnTimeout    = True; 
initialDepth = 780.245826;
finalDepth = 784.291853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.50787
#   Actual altitude:          57.50787
#   Commanded vehicle depth:  784.291853 
#   Seafloor depth:           -841.799723
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 110.196214 meters
#   Minimum depth: 830.245826 meters looking forward 100.000000 meters along route
#   Maximum depth: 833.270335 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 780.245826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132048;
longitude = -116.218143;
duration = 440;
initialDepth = 783.338880;
finalDepth = 780.245826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.50787
#   Actual altitude:          57.50787
#   Commanded vehicle depth:  780.245826 
#   Seafloor depth:           -830.980599
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.713975 meters
#   Minimum depth: 833.338880 meters looking forward 100.000000 meters along route
#   Maximum depth: 840.622216 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 783.338880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132977;
longitude = -116.218546;
duration = 414;
initialDepth = 793.332318;
finalDepth = 783.338880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.734773
#   Actual altitude:          50.734773
#   Commanded vehicle depth:  783.33888 
#   Seafloor depth:           -833.338880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 107.765188 meters
#   Minimum depth: 843.332318 meters looking forward 100.000000 meters along route
#   Maximum depth: 860.585657 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 793.332318 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133852;
longitude = -116.218925;
duration = 431;
initialDepth = 810.620618;
finalDepth = 793.332318;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  793.332318 
#   Seafloor depth:           -843.332318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 106.144547 meters
#   Minimum depth: 860.620618 meters looking forward 100.000000 meters along route
#   Maximum depth: 873.560540 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 810.620618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134761;
longitude = -116.219319;
duration = 424;
initialDepth = 825.382272;
finalDepth = 810.620618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  810.620618 
#   Seafloor depth:           -860.620618
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 106.954697 meters
#   Minimum depth: 875.382272 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.645330 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 825.382272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135656;
longitude = -116.219708;
duration = 427;
initialDepth = 854.040696;
finalDepth = 825.382272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  825.382272 
#   Seafloor depth:           -875.382272
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 115.867461 meters
#   Minimum depth: 904.779747 meters looking forward 100.000000 meters along route
#   Maximum depth: 918.801338 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 854.040696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136558;
longitude = -116.220099;
duration = 463;
initialDepth = 868.801338;
finalDepth = 854.040696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.9471588240679
#   Actual altitude:          50.9471588240679
#   Commanded vehicle depth:  854.040696175932 
#   Seafloor depth:           -904.987855
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 87.733089 meters
#   Minimum depth: 918.801338 meters looking forward 100.000000 meters along route
#   Maximum depth: 923.329493 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.801338 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137536;
longitude = -116.220523;
duration = 350;
# abortOnTimeout    = True; 
initialDepth = 874.183295;
finalDepth = 868.801338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.846042
#   Actual altitude:          51.846042
#   Commanded vehicle depth:  868.801338 
#   Seafloor depth:           -920.647380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.279933 meters
#   Minimum depth: 924.183295 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.251330 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.183295 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137296;
longitude = -116.221382;
duration = 421;
initialDepth = 875.316972;
finalDepth = 874.183295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.846042
#   Actual altitude:          51.846042
#   Commanded vehicle depth:  874.183295 
#   Seafloor depth:           -924.183295
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.280179 meters
#   Minimum depth: 925.316972 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.248064 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.316972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.137007;
longitude = -116.222413;
duration = 421;
initialDepth = 873.856485;
finalDepth = 875.316972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.331454
#   Actual altitude:          51.331454
#   Commanded vehicle depth:  875.316972 
#   Seafloor depth:           -926.648426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.280426 meters
#   Minimum depth: 923.856485 meters looking forward 100.000000 meters along route
#   Maximum depth: 930.274106 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.856485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136719;
longitude = -116.223444;
duration = 421;
initialDepth = 884.477927;
finalDepth = 873.856485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.331454
#   Actual altitude:          51.331454
#   Commanded vehicle depth:  873.856485 
#   Seafloor depth:           -923.856485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.280672 meters
#   Minimum depth: 934.477927 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.244893 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.477927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136431;
longitude = -116.224476;
duration = 421;
initialDepth = 908.252679;
finalDepth = 884.477927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  884.477927 
#   Seafloor depth:           -934.477927
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.280920 meters
#   Minimum depth: 958.252679 meters looking forward 100.000000 meters along route
#   Maximum depth: 969.141441 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 908.252679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136143;
longitude = -116.225507;
duration = 421;
initialDepth = 919.661264;
finalDepth = 908.252679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  908.252679 
#   Seafloor depth:           -958.252679
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.281165 meters
#   Minimum depth: 969.661264 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.217069 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 919.661264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135855;
longitude = -116.226538;
duration = 421;
initialDepth = 922.148383;
finalDepth = 919.661264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  919.661264 
#   Seafloor depth:           -969.661264
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.281413 meters
#   Minimum depth: 972.148383 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.118455 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 922.148383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135566;
longitude = -116.227570;
duration = 421;
initialDepth = 916.172331;
finalDepth = 922.148383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.843253
#   Actual altitude:          50.843253
#   Commanded vehicle depth:  922.148383 
#   Seafloor depth:           -972.991636
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 109.096217 meters
#   Minimum depth: 966.172331 meters looking forward 100.000000 meters along route
#   Maximum depth: 970.660791 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.172331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135278;
longitude = -116.228601;
duration = 436;
initialDepth = 909.021905;
finalDepth = 916.172331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.48846
#   Actual altitude:          54.48846
#   Commanded vehicle depth:  916.172331 
#   Seafloor depth:           -970.660791
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 101.467348 meters
#   Minimum depth: 959.021905 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.948173 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 909.021905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134980;
longitude = -116.229670;
duration = 405;
initialDepth = 888.636921;
finalDepth = 909.021905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.9262680000001
#   Actual altitude:          56.9262680000001
#   Commanded vehicle depth:  909.021905 
#   Seafloor depth:           -965.948173
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.282153 meters
#   Minimum depth: 938.636921 meters looking forward 100.000000 meters along route
#   Maximum depth: 957.902549 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.636921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134702;
longitude = -116.230663;
duration = 421;
initialDepth = 860.824735;
finalDepth = 888.636921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.265628
#   Actual altitude:          69.265628
#   Commanded vehicle depth:  888.636921 
#   Seafloor depth:           -957.902549
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.282399 meters
#   Minimum depth: 910.824735 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.980498 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 860.824735 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134414;
longitude = -116.231695;
duration = 421;
initialDepth = 861.179790;
finalDepth = 860.824735;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.265628
#   Actual altitude:          69.265628
#   Commanded vehicle depth:  860.824735 
#   Seafloor depth:           -927.980498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.282646 meters
#   Minimum depth: 911.179790 meters looking forward 100.000000 meters along route
#   Maximum depth: 915.476879 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 861.179790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134126;
longitude = -116.232726;
duration = 421;
initialDepth = 865.784621;
finalDepth = 861.179790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.155763
#   Actual altitude:          67.155763
#   Commanded vehicle depth:  861.17979 
#   Seafloor depth:           -911.179790
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.282893 meters
#   Minimum depth: 915.784621 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.439175 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 865.784621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133837;
longitude = -116.233757;
duration = 421;
initialDepth = 839.981955;
finalDepth = 865.784621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  865.784621 
#   Seafloor depth:           -915.784621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.283140 meters
#   Minimum depth: 889.981955 meters looking forward 100.000000 meters along route
#   Maximum depth: 917.450858 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 839.981955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133549;
longitude = -116.234789;
duration = 421;
initialDepth = 832.851865;
finalDepth = 839.981955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.4689030000001
#   Actual altitude:          77.4689030000001
#   Commanded vehicle depth:  839.981955 
#   Seafloor depth:           -917.450858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.283387 meters
#   Minimum depth: 882.851865 meters looking forward 100.000000 meters along route
#   Maximum depth: 886.488958 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 832.851865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133261;
longitude = -116.235820;
duration = 421;
initialDepth = 837.627860;
finalDepth = 832.851865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.4689030000001
#   Actual altitude:          77.4689030000001
#   Commanded vehicle depth:  832.851865 
#   Seafloor depth:           -882.851865
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.283633 meters
#   Minimum depth: 887.627860 meters looking forward 100.000000 meters along route
#   Maximum depth: 890.741214 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 837.627860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132973;
longitude = -116.236851;
duration = 421;
initialDepth = 838.420922;
finalDepth = 837.627860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  837.62786 
#   Seafloor depth:           -887.627860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 122.831218 meters
#   Minimum depth: 888.420922 meters looking forward 100.000000 meters along route
#   Maximum depth: 901.729456 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.420922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132685;
longitude = -116.237882;
duration = 491;
initialDepth = 852.212372;
finalDepth = 838.420922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  838.420922 
#   Seafloor depth:           -888.420922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 88.345536 meters
#   Minimum depth: 902.212372 meters looking forward 100.000000 meters along route
#   Maximum depth: 906.770231 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 852.212372 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132349;
longitude = -116.239086;
duration = 353;
# abortOnTimeout    = True; 
initialDepth = 856.007702;
finalDepth = 852.212372;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.097849
#   Actual altitude:          50.097849
#   Commanded vehicle depth:  852.212372 
#   Seafloor depth:           -902.310221
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 106.014731 meters
#   Minimum depth: 906.007702 meters looking forward 100.000000 meters along route
#   Maximum depth: 908.658341 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 856.007702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.238783;
duration = 424;
initialDepth = 858.964629;
finalDepth = 856.007702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.650639
#   Actual altitude:          52.650639
#   Commanded vehicle depth:  856.007702 
#   Seafloor depth:           -908.658341
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 106.014829 meters
#   Minimum depth: 908.964629 meters looking forward 100.000000 meters along route
#   Maximum depth: 925.029067 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 858.964629 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130695;
longitude = -116.238420;
duration = 424;
initialDepth = 876.208077;
finalDepth = 858.964629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.650639
#   Actual altitude:          52.650639
#   Commanded vehicle depth:  858.964629 
#   Seafloor depth:           -909.251100
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 106.014926 meters
#   Minimum depth: 926.208077 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.806819 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 876.208077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.238057;
duration = 424;
initialDepth = 879.344457;
finalDepth = 876.208077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.598742
#   Actual altitude:          51.598742
#   Commanded vehicle depth:  876.208077 
#   Seafloor depth:           -927.806819
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 106.015022 meters
#   Minimum depth: 929.344457 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.835938 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.344457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128890;
longitude = -116.237694;
duration = 424;
initialDepth = 882.146673;
finalDepth = 879.344457;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.598742
#   Actual altitude:          51.598742
#   Commanded vehicle depth:  879.344457 
#   Seafloor depth:           -929.344457
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 114.849718 meters
#   Minimum depth: 932.146673 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.785541 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.146673 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127988;
longitude = -116.237330;
duration = 459;
initialDepth = 883.897298;
finalDepth = 882.146673;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.8539390000001
#   Actual altitude:          52.8539390000001
#   Commanded vehicle depth:  882.146673 
#   Seafloor depth:           -935.000612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 88.098500 meters
#   Minimum depth: 933.897298 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.848958 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 883.897298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127011;
longitude = -116.236937;
duration = 352;
# abortOnTimeout    = True; 
initialDepth = 882.296875;
finalDepth = 883.897298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8539390000001
#   Actual altitude:          52.8539390000001
#   Commanded vehicle depth:  883.897298 
#   Seafloor depth:           -935.848958
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.717964 meters
#   Minimum depth: 932.296875 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.460775 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.296875 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127262;
longitude = -116.236078;
duration = 422;
initialDepth = 879.545247;
finalDepth = 882.296875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9516600000001
#   Actual altitude:          51.9516600000001
#   Commanded vehicle depth:  882.296875 
#   Seafloor depth:           -933.526910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.717707 meters
#   Minimum depth: 929.545247 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.232422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.545247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127562;
longitude = -116.235046;
duration = 422;
initialDepth = 876.917508;
finalDepth = 879.545247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.687175
#   Actual altitude:          59.687175
#   Commanded vehicle depth:  879.545247 
#   Seafloor depth:           -939.232422
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.717451 meters
#   Minimum depth: 926.917508 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.792331 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 876.917508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127863;
longitude = -116.234015;
duration = 422;
initialDepth = 889.564921;
finalDepth = 876.917508;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.687175
#   Actual altitude:          59.687175
#   Commanded vehicle depth:  876.917508 
#   Seafloor depth:           -927.797567
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.717193 meters
#   Minimum depth: 939.564921 meters looking forward 100.000000 meters along route
#   Maximum depth: 942.963440 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.564921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128164;
longitude = -116.232984;
duration = 422;
initialDepth = 888.430006;
finalDepth = 889.564921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.880059
#   Actual altitude:          50.880059
#   Commanded vehicle depth:  889.564921 
#   Seafloor depth:           -939.564921
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.716936 meters
#   Minimum depth: 938.430006 meters looking forward 100.000000 meters along route
#   Maximum depth: 944.319960 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.430006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128464;
longitude = -116.231953;
duration = 422;
initialDepth = 884.501255;
finalDepth = 888.430006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.889954
#   Actual altitude:          55.889954
#   Commanded vehicle depth:  888.430006 
#   Seafloor depth:           -944.319960
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.716679 meters
#   Minimum depth: 934.501255 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.075019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.501255 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128765;
longitude = -116.230921;
duration = 422;
initialDepth = 878.685506;
finalDepth = 884.501255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.889954
#   Actual altitude:          55.889954
#   Commanded vehicle depth:  884.501255 
#   Seafloor depth:           -939.075019
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.716422 meters
#   Minimum depth: 928.685506 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.357707 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 878.685506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129066;
longitude = -116.229890;
duration = 422;
initialDepth = 873.333130;
finalDepth = 878.685506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.672201
#   Actual altitude:          54.672201
#   Commanded vehicle depth:  878.685506 
#   Seafloor depth:           -933.357707
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.716164 meters
#   Minimum depth: 923.333130 meters looking forward 100.000000 meters along route
#   Maximum depth: 927.935838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.333130 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129367;
longitude = -116.228859;
duration = 422;
initialDepth = 872.063456;
finalDepth = 873.333130;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.672201
#   Actual altitude:          54.672201
#   Commanded vehicle depth:  873.33313 
#   Seafloor depth:           -927.935838
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.715909 meters
#   Minimum depth: 922.063456 meters looking forward 100.000000 meters along route
#   Maximum depth: 923.088508 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.063456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129667;
longitude = -116.227827;
duration = 422;
initialDepth = 874.003608;
finalDepth = 872.063456;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.602708
#   Actual altitude:          54.602708
#   Commanded vehicle depth:  872.063456 
#   Seafloor depth:           -922.063456
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.715651 meters
#   Minimum depth: 924.003608 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.794169 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.003608 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129968;
longitude = -116.226796;
duration = 422;
initialDepth = 873.959534;
finalDepth = 874.003608;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  874.003608 
#   Seafloor depth:           -924.003608
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.715394 meters
#   Minimum depth: 923.959534 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.402011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.959534 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130269;
longitude = -116.225765;
duration = 422;
initialDepth = 862.850769;
finalDepth = 873.959534;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4424770000001
#   Actual altitude:          55.4424770000001
#   Commanded vehicle depth:  873.959534 
#   Seafloor depth:           -929.402011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.715137 meters
#   Minimum depth: 912.850769 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.202745 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.850769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130569;
longitude = -116.224734;
duration = 422;
initialDepth = 850.291667;
finalDepth = 862.850769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.351976
#   Actual altitude:          58.351976
#   Commanded vehicle depth:  862.850769 
#   Seafloor depth:           -921.202745
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.714880 meters
#   Minimum depth: 900.291667 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.207255 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 850.291667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130870;
longitude = -116.223702;
duration = 422;
initialDepth = 836.010139;
finalDepth = 850.291667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.9155880000001
#   Actual altitude:          58.9155880000001
#   Commanded vehicle depth:  850.291667 
#   Seafloor depth:           -909.207255
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.714624 meters
#   Minimum depth: 886.010139 meters looking forward 100.000000 meters along route
#   Maximum depth: 898.858561 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 836.010139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131171;
longitude = -116.222671;
duration = 422;
initialDepth = 813.949192;
finalDepth = 836.010139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.848422
#   Actual altitude:          62.848422
#   Commanded vehicle depth:  836.010139 
#   Seafloor depth:           -898.858561
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.714367 meters
#   Minimum depth: 863.949192 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.113010 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.949192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131471;
longitude = -116.221640;
duration = 422;
initialDepth = 792.383748;
finalDepth = 813.949192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.163818
#   Actual altitude:          68.163818
#   Commanded vehicle depth:  813.949192 
#   Seafloor depth:           -882.113010
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 105.714110 meters
#   Minimum depth: 842.383748 meters looking forward 100.000000 meters along route
#   Maximum depth: 858.923021 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 792.383748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131772;
longitude = -116.220608;
duration = 422;
initialDepth = 783.158339;
finalDepth = 792.383748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.163818
#   Actual altitude:          68.163818
#   Commanded vehicle depth:  792.383748 
#   Seafloor depth:           -858.923021
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 123.332804 meters
#   Minimum depth: 833.158339 meters looking forward 100.000000 meters along route
#   Maximum depth: 840.831482 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 783.158339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132073;
longitude = -116.219577;
duration = 493;
initialDepth = 780.646973;
finalDepth = 783.158339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       66.539273
#   Actual altitude:          66.539273
#   Commanded vehicle depth:  783.158339 
#   Seafloor depth:           -840.831482
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 88.757821 meters
#   Minimum depth: 830.646973 meters looking forward 100.000000 meters along route
#   Maximum depth: 840.854005 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 780.646973 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132424;
longitude = -116.218374;
duration = 355;
# abortOnTimeout    = True; 
initialDepth = 791.142621;
finalDepth = 780.646973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.6731430000001
#   Actual altitude:          57.6731430000001
#   Commanded vehicle depth:  780.646973 
#   Seafloor depth:           -830.646973
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 106.509700 meters
#   Minimum depth: 841.142621 meters looking forward 100.000000 meters along route
#   Maximum depth: 855.263373 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 791.142621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132048;
longitude = -116.219180;
duration = 426;
initialDepth = 805.937571;
finalDepth = 791.142621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  791.142621 
#   Seafloor depth:           -841.142621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 107.693489 meters
#   Minimum depth: 855.937571 meters looking forward 100.000000 meters along route
#   Maximum depth: 872.451182 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 805.937571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.220147;
duration = 430;
initialDepth = 822.720848;
finalDepth = 805.937571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  805.937571 
#   Seafloor depth:           -855.937571
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 123.078702 meters
#   Minimum depth: 872.720848 meters looking forward 100.000000 meters along route
#   Maximum depth: 885.865930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.720848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131141;
longitude = -116.221124;
duration = 492;
initialDepth = 830.155282;
finalDepth = 822.720848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  822.720848 
#   Seafloor depth:           -872.720848
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 99.105416 meters
#   Minimum depth: 880.155282 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.146226 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.155282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130619;
longitude = -116.222241;
duration = 396;
# abortOnTimeout    = True; 
initialDepth = 830.222685;
finalDepth = 830.155282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.722729
#   Actual altitude:          57.722729
#   Commanded vehicle depth:  830.155282 
#   Seafloor depth:           -887.878011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 104.414729 meters
#   Minimum depth: 880.222685 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.393325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.222685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129777;
longitude = -116.221898;
duration = 417;
initialDepth = 826.420672;
finalDepth = 830.222685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.722729
#   Actual altitude:          57.722729
#   Commanded vehicle depth:  830.222685 
#   Seafloor depth:           -880.222685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 106.184569 meters
#   Minimum depth: 876.420672 meters looking forward 100.000000 meters along route
#   Maximum depth: 881.547279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.420672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128890;
longitude = -116.221535;
duration = 424;
initialDepth = 822.052531;
finalDepth = 826.420672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.126607
#   Actual altitude:          55.126607
#   Commanded vehicle depth:  826.420672 
#   Seafloor depth:           -881.547279
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 106.184670 meters
#   Minimum depth: 872.052531 meters looking forward 100.000000 meters along route
#   Maximum depth: 874.418175 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.052531 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127988;
longitude = -116.221167;
duration = 424;
initialDepth = 822.100077;
finalDepth = 822.052531;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.126607
#   Actual altitude:          55.126607
#   Commanded vehicle depth:  822.052531 
#   Seafloor depth:           -873.503062
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 106.184769 meters
#   Minimum depth: 872.100077 meters looking forward 100.000000 meters along route
#   Maximum depth: 874.390503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.100077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127086;
longitude = -116.220799;
duration = 424;
initialDepth = 818.265680;
finalDepth = 822.100077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.450531
#   Actual altitude:          51.450531
#   Commanded vehicle depth:  822.100077 
#   Seafloor depth:           -873.319266
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 106.184870 meters
#   Minimum depth: 868.265680 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.647888 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.265680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126184;
longitude = -116.220430;
duration = 424;
initialDepth = 813.463229;
finalDepth = 818.265680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2191889999999
#   Actual altitude:          51.2191889999999
#   Commanded vehicle depth:  818.26568 
#   Seafloor depth:           -868.265680
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 115.033722 meters
#   Minimum depth: 863.463229 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.427496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.463229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125282;
longitude = -116.220062;
duration = 460;
initialDepth = 812.177897;
finalDepth = 813.463229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.9642670000001
#   Actual altitude:          55.9642670000001
#   Commanded vehicle depth:  813.463229 
#   Seafloor depth:           -869.427496
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 88.487489 meters
#   Minimum depth: 862.177897 meters looking forward 100.000000 meters along route
#   Maximum depth: 867.781871 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.177897 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.124305;
longitude = -116.219663;
duration = 353;
# abortOnTimeout    = True; 
initialDepth = 818.338388;
finalDepth = 812.177897;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.9642670000001
#   Actual altitude:          55.9642670000001
#   Commanded vehicle depth:  812.177897 
#   Seafloor depth:           -862.177897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 109.724389 meters
#   Minimum depth: 868.338388 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.647888 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.338388 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125056;
longitude = -116.219970;
duration = 438;
initialDepth = 818.265680;
finalDepth = 818.338388;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  818.338388 
#   Seafloor depth:           -868.338388
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.645300 meters
#   Minimum depth: 868.265680 meters looking forward 100.000000 meters along route
#   Maximum depth: 873.622852 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.265680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.125989;
longitude = -116.220351;
duration = 410;
initialDepth = 822.052531;
finalDepth = 818.265680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.204689
#   Actual altitude:          50.204689
#   Commanded vehicle depth:  818.26568 
#   Seafloor depth:           -868.470369
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 106.184695 meters
#   Minimum depth: 872.052531 meters looking forward 100.000000 meters along route
#   Maximum depth: 874.390503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 822.052531 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126861;
longitude = -116.220707;
duration = 424;
initialDepth = 823.503062;
finalDepth = 822.052531;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3379719999999
#   Actual altitude:          52.3379719999999
#   Commanded vehicle depth:  822.052531 
#   Seafloor depth:           -874.390503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 106.184594 meters
#   Minimum depth: 873.503062 meters looking forward 100.000000 meters along route
#   Maximum depth: 879.844347 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 823.503062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127763;
longitude = -116.221075;
duration = 424;
initialDepth = 829.012637;
finalDepth = 823.503062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3379719999999
#   Actual altitude:          52.3379719999999
#   Commanded vehicle depth:  823.503062 
#   Seafloor depth:           -874.418175
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 106.184495 meters
#   Minimum depth: 879.012637 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.393325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 829.012637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128665;
longitude = -116.221443;
duration = 424;
initialDepth = 830.155282;
finalDepth = 829.012637;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.915113
#   Actual altitude:          50.915113
#   Commanded vehicle depth:  829.012637 
#   Seafloor depth:           -879.012637
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 123.881783 meters
#   Minimum depth: 880.155282 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.146226 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.155282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129567;
longitude = -116.221812;
duration = 495;
initialDepth = 829.515496;
finalDepth = 830.155282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.8016879999999
#   Actual altitude:          51.8016879999999
#   Commanded vehicle depth:  830.155282 
#   Seafloor depth:           -881.956970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 86.002908 meters
#   Minimum depth: 879.515496 meters looking forward 100.000000 meters along route
#   Maximum depth: 887.878011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 829.515496 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130619;
longitude = -116.222241;
duration = 344;
# abortOnTimeout    = True; 
initialDepth = 820.548433;
finalDepth = 829.515496;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.362515
#   Actual altitude:          58.362515
#   Commanded vehicle depth:  829.515496 
#   Seafloor depth:           -887.878011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 103.203820 meters
#   Minimum depth: 870.548433 meters looking forward 100.000000 meters along route
#   Maximum depth: 878.404846 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 820.548433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130244;
longitude = -116.221468;
duration = 412;
initialDepth = 817.108850;
finalDepth = 820.548433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.362515
#   Actual altitude:          58.362515
#   Commanded vehicle depth:  820.548433 
#   Seafloor depth:           -878.404846
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 107.026565 meters
#   Minimum depth: 867.108850 meters looking forward 100.000000 meters along route
#   Maximum depth: 871.606298 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 817.108850 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.220540;
duration = 428;
initialDepth = 812.441255;
finalDepth = 817.108850;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.856413
#   Actual altitude:          57.856413
#   Commanded vehicle depth:  817.10885 
#   Seafloor depth:           -871.253666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 114.671749 meters
#   Minimum depth: 862.441255 meters looking forward 100.000000 meters along route
#   Maximum depth: 867.485078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.441255 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129325;
longitude = -116.219577;
duration = 458;
initialDepth = 807.957831;
finalDepth = 812.441255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.3545690000001
#   Actual altitude:          54.3545690000001
#   Commanded vehicle depth:  812.441255 
#   Seafloor depth:           -866.795824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 105.116162 meters
#   Minimum depth: 857.957831 meters looking forward 100.000000 meters along route
#   Maximum depth: 863.737836 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 807.957831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128824;
longitude = -116.218546;
duration = 420;
initialDepth = 807.807536;
finalDepth = 807.957831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.530306
#   Actual altitude:          55.530306
#   Commanded vehicle depth:  807.957831 
#   Seafloor depth:           -863.488137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 113.682817 meters
#   Minimum depth: 857.807536 meters looking forward 100.000000 meters along route
#   Maximum depth: 865.523245 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 807.807536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128364;
longitude = -116.217601;
duration = 454;
# abortOnTimeout    = True; 
initialDepth = 812.282436;
finalDepth = 807.807536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.530306
#   Actual altitude:          55.530306
#   Commanded vehicle depth:  807.807536 
#   Seafloor depth:           -857.807536
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 124.240515 meters
#   Minimum depth: 862.282436 meters looking forward 100.000000 meters along route
#   Maximum depth: 866.531363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 812.282436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128063;
longitude = -116.218718;
duration = 496;
# abortOnTimeout    = True; 
initialDepth = 792.625163;
finalDepth = 812.282436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       50.9194680000001
#   Actual altitude:          50.9194680000001
#   Commanded vehicle depth:  812.282436 
#   Seafloor depth:           -863.201904
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 145.929014 meters
#   Minimum depth: 867.625163 meters looking forward 100.000000 meters along route
#   Maximum depth: 876.467072 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 792.625163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127688;
longitude = -116.219921;
duration = 583;
# abortOnTimeout    = True; 
initialDepth = 801.385173;
finalDepth = 792.625163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       75
#   Actual altitude:          75
#   Commanded vehicle depth:  792.625163 
#   Seafloor depth:           -867.625163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 148.111700 meters
#   Minimum depth: 876.385173 meters looking forward 100.000000 meters along route
#   Maximum depth: 890.577202 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 801.385173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127161;
longitude = -116.221296;
duration = 592;
# abortOnTimeout    = True; 
initialDepth = 841.071583;
finalDepth = 801.385173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       75
#   Actual altitude:          75
#   Commanded vehicle depth:  801.385173 
#   Seafloor depth:           -876.385173
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 158.578465 meters
#   Minimum depth: 891.315104 meters looking forward 100.000000 meters along route
#   Maximum depth: 908.694906 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 841.071583 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126785;
longitude = -116.222757;
duration = 634;
# abortOnTimeout    = True; 
initialDepth = 852.914867;
finalDepth = 841.071583;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       75
#   Actual altitude:          75
#   Commanded vehicle depth:  841.071582695672 
#   Seafloor depth:           -891.315104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 88.530042 meters
#   Minimum depth: 902.914867 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.507568 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 852.914867 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126334;
longitude = -116.224304;
duration = 354;
# abortOnTimeout    = True; 
initialDepth = 839.069713;
finalDepth = 852.914867;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.592701
#   Actual altitude:          56.592701
#   Commanded vehicle depth:  852.914867 
#   Seafloor depth:           -909.507568
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 106.235804 meters
#   Minimum depth: 889.069713 meters looking forward 100.000000 meters along route
#   Maximum depth: 899.294847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 839.069713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126597;
longitude = -116.223444;
duration = 424;
initialDepth = 830.512241;
finalDepth = 839.069713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.225134
#   Actual altitude:          60.225134
#   Commanded vehicle depth:  839.069713 
#   Seafloor depth:           -899.294847
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 106.235536 meters
#   Minimum depth: 880.512241 meters looking forward 100.000000 meters along route
#   Maximum depth: 886.501802 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.512241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.126912;
longitude = -116.222413;
duration = 424;
initialDepth = 818.543910;
finalDepth = 830.512241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.225134
#   Actual altitude:          60.225134
#   Commanded vehicle depth:  830.512241 
#   Seafloor depth:           -886.501802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 106.235267 meters
#   Minimum depth: 868.543910 meters looking forward 100.000000 meters along route
#   Maximum depth: 877.055880 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.543910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127227;
longitude = -116.221382;
duration = 424;
initialDepth = 815.420317;
finalDepth = 818.543910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9959
#   Actual altitude:          57.9959
#   Commanded vehicle depth:  818.54391 
#   Seafloor depth:           -876.539810
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 106.234998 meters
#   Minimum depth: 865.420317 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.289028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 815.420317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127543;
longitude = -116.220351;
duration = 424;
initialDepth = 811.404435;
finalDepth = 815.420317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9959
#   Actual altitude:          57.9959
#   Commanded vehicle depth:  815.420317 
#   Seafloor depth:           -868.289028
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 119.971960 meters
#   Minimum depth: 861.404435 meters looking forward 100.000000 meters along route
#   Maximum depth: 866.033819 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 811.404435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.127858;
longitude = -116.219319;
duration = 479;
initialDepth = 808.135457;
finalDepth = 811.404435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.629384
#   Actual altitude:          54.629384
#   Commanded vehicle depth:  811.404435 
#   Seafloor depth:           -866.033819
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 101.350091 meters
#   Minimum depth: 858.135457 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.807175 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.135457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128214;
longitude = -116.218155;
duration = 405;
initialDepth = 801.624846;
finalDepth = 808.135457;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.629384
#   Actual altitude:          54.629384
#   Commanded vehicle depth:  808.135457 
#   Seafloor depth:           -861.254630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 151.967294 meters
#   Minimum depth: 851.624846 meters looking forward 100.000000 meters along route
#   Maximum depth: 858.111491 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 801.624846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128515;
longitude = -116.217171;
duration = 607;
# abortOnTimeout    = True; 
initialDepth = 793.815292;
finalDepth = 801.624846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.486645
#   Actual altitude:          56.486645
#   Commanded vehicle depth:  801.624846 
#   Seafloor depth:           -858.111491
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 107.270888 meters
#   Minimum depth: 843.815292 meters looking forward 100.000000 meters along route
#   Maximum depth: 851.483247 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 793.815292 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129793;
longitude = -116.217738;
duration = 429;
initialDepth = 784.258648;
finalDepth = 793.815292;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.667955
#   Actual altitude:          57.667955
#   Commanded vehicle depth:  793.815292 
#   Seafloor depth:           -851.483247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 109.333668 meters
#   Minimum depth: 834.258648 meters looking forward 100.000000 meters along route
#   Maximum depth: 845.858497 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 784.258648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130695;
longitude = -116.218138;
duration = 437;
initialDepth = 784.391113;
finalDepth = 784.258648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5998490000001
#   Actual altitude:          61.5998490000001
#   Commanded vehicle depth:  784.258648 
#   Seafloor depth:           -845.858497
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 105.207752 meters
#   Minimum depth: 834.391113 meters looking forward 100.000000 meters along route
#   Maximum depth: 837.164554 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 784.391113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131614;
longitude = -116.218546;
duration = 420;
initialDepth = 785.139756;
finalDepth = 784.391113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5998490000001
#   Actual altitude:          61.5998490000001
#   Commanded vehicle depth:  784.391113 
#   Seafloor depth:           -834.391113
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 125.148942 meters
#   Minimum depth: 835.139756 meters looking forward 100.000000 meters along route
#   Maximum depth: 842.623734 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 785.139756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132499;
longitude = -116.218938;
duration = 500;
initialDepth = 795.750326;
finalDepth = 785.139756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.5787849999999
#   Actual altitude:          51.5787849999999
#   Commanded vehicle depth:  785.139756 
#   Seafloor depth:           -836.718541
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 175.701299 meters
#   Minimum depth: 845.750326 meters looking forward 100.000000 meters along route
#   Maximum depth: 853.526188 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 795.750326 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133551;
longitude = -116.219405;
duration = 702;
# abortOnTimeout    = True; 
initialDepth = 808.348712;
finalDepth = 795.750326;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5787849999999
#   Actual altitude:          51.5787849999999
#   Commanded vehicle depth:  795.750326 
#   Seafloor depth:           -845.750326
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.421112 meters
#   Minimum depth: 858.348712 meters looking forward 100.000000 meters along route
#   Maximum depth: 876.385670 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.348712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133064;
longitude = -116.221124;
duration = 421;
initialDepth = 830.828848;
finalDepth = 808.348712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  808.348712 
#   Seafloor depth:           -858.348712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.421363 meters
#   Minimum depth: 880.828848 meters looking forward 100.000000 meters along route
#   Maximum depth: 899.341163 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.828848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132772;
longitude = -116.222155;
duration = 421;
initialDepth = 850.064956;
finalDepth = 830.828848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  830.828848 
#   Seafloor depth:           -880.828848
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.421612 meters
#   Minimum depth: 900.064956 meters looking forward 100.000000 meters along route
#   Maximum depth: 909.616811 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 850.064956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132480;
longitude = -116.223187;
duration = 421;
initialDepth = 863.257606;
finalDepth = 850.064956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  850.064956 
#   Seafloor depth:           -900.064956
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.421862 meters
#   Minimum depth: 913.257606 meters looking forward 100.000000 meters along route
#   Maximum depth: 919.701099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 863.257606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132188;
longitude = -116.224218;
duration = 421;
initialDepth = 872.550775;
finalDepth = 863.257606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  863.257606 
#   Seafloor depth:           -913.257606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 107.713900 meters
#   Minimum depth: 922.550775 meters looking forward 100.000000 meters along route
#   Maximum depth: 926.500439 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.550775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131895;
longitude = -116.225249;
duration = 430;
initialDepth = 873.702730;
finalDepth = 872.550775;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  872.550775 
#   Seafloor depth:           -922.550775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 103.130575 meters
#   Minimum depth: 923.702730 meters looking forward 100.000000 meters along route
#   Maximum depth: 926.374472 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.702730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131597;
longitude = -116.226303;
duration = 412;
initialDepth = 873.991840;
finalDepth = 873.702730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.671742
#   Actual altitude:          52.671742
#   Commanded vehicle depth:  873.70273 
#   Seafloor depth:           -926.374472
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.422612 meters
#   Minimum depth: 923.991840 meters looking forward 100.000000 meters along route
#   Maximum depth: 930.081126 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.991840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131311;
longitude = -116.227312;
duration = 421;
initialDepth = 881.709645;
finalDepth = 873.991840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.671742
#   Actual altitude:          52.671742
#   Commanded vehicle depth:  873.99184 
#   Seafloor depth:           -923.991840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.422862 meters
#   Minimum depth: 931.709645 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.941312 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.709645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131019;
longitude = -116.228343;
duration = 421;
initialDepth = 886.071537;
finalDepth = 881.709645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  881.709645 
#   Seafloor depth:           -931.709645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.423112 meters
#   Minimum depth: 936.071537 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.266586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.071537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130726;
longitude = -116.229374;
duration = 421;
initialDepth = 890.133402;
finalDepth = 886.071537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  886.071537 
#   Seafloor depth:           -936.071537
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.423362 meters
#   Minimum depth: 940.133402 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.691481 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 890.133402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130434;
longitude = -116.230406;
duration = 421;
initialDepth = 892.149937;
finalDepth = 890.133402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  890.133402 
#   Seafloor depth:           -940.133402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.423613 meters
#   Minimum depth: 942.149937 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.799146 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.149937 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130142;
longitude = -116.231437;
duration = 421;
initialDepth = 893.150061;
finalDepth = 892.149937;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6492089999999
#   Actual altitude:          53.6492089999999
#   Commanded vehicle depth:  892.149937 
#   Seafloor depth:           -945.799146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.423862 meters
#   Minimum depth: 943.150061 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.344108 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.150061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129850;
longitude = -116.232468;
duration = 421;
initialDepth = 882.011749;
finalDepth = 893.150061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6492089999999
#   Actual altitude:          53.6492089999999
#   Commanded vehicle depth:  893.150061 
#   Seafloor depth:           -944.735261
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.424113 meters
#   Minimum depth: 932.011749 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.340267 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.011749 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129557;
longitude = -116.233499;
duration = 421;
initialDepth = 878.010673;
finalDepth = 882.011749;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.328518
#   Actual altitude:          63.328518
#   Commanded vehicle depth:  882.011749 
#   Seafloor depth:           -945.340267
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 105.424362 meters
#   Minimum depth: 928.010673 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.432249 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 878.010673 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129265;
longitude = -116.234531;
duration = 421;
initialDepth = 877.086622;
finalDepth = 878.010673;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.328518
#   Actual altitude:          63.328518
#   Commanded vehicle depth:  878.010673 
#   Seafloor depth:           -928.010673
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 111.154219 meters
#   Minimum depth: 927.086622 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.575227 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.086622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128973;
longitude = -116.235562;
duration = 444;
initialDepth = 877.623970;
finalDepth = 877.086622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.70931
#   Actual altitude:          50.70931
#   Commanded vehicle depth:  877.086622 
#   Seafloor depth:           -927.795932
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 108.480674 meters
#   Minimum depth: 927.623970 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.371782 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.623970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128665;
longitude = -116.236649;
duration = 433;
initialDepth = 876.981165;
finalDepth = 877.623970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.70931
#   Actual altitude:          50.70931
#   Commanded vehicle depth:  877.62397 
#   Seafloor depth:           -927.623970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 88.897009 meters
#   Minimum depth: 926.981165 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.905580 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 876.981165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.128364;
longitude = -116.237711;
duration = 355;
# abortOnTimeout    = True; 
initialDepth = 873.825120;
finalDepth = 876.981165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.4545449999999
#   Actual altitude:          58.4545449999999
#   Commanded vehicle depth:  876.981165 
#   Seafloor depth:           -935.435710
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 106.676311 meters
#   Minimum depth: 923.825120 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.993426 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.825120 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129116;
longitude = -116.238030;
duration = 426;
initialDepth = 858.997552;
finalDepth = 873.825120;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.4545449999999
#   Actual altitude:          58.4545449999999
#   Commanded vehicle depth:  873.82512 
#   Seafloor depth:           -928.462054
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 115.565881 meters
#   Minimum depth: 908.997552 meters looking forward 100.000000 meters along route
#   Maximum depth: 922.805831 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 858.997552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130018;
longitude = -116.238413;
duration = 462;
initialDepth = 855.260854;
finalDepth = 858.997552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.808279
#   Actual altitude:          63.808279
#   Commanded vehicle depth:  858.997552 
#   Seafloor depth:           -922.805831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 175.703921 meters
#   Minimum depth: 905.260854 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.098551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 855.260854 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130995;
longitude = -116.238828;
duration = 702;
# abortOnTimeout    = True; 
initialDepth = 844.290907;
finalDepth = 855.260854;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.808279
#   Actual altitude:          63.808279
#   Commanded vehicle depth:  855.260854 
#   Seafloor depth:           -910.098551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.422018 meters
#   Minimum depth: 894.290907 meters looking forward 100.000000 meters along route
#   Maximum depth: 901.493720 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.290907 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131482;
longitude = -116.237109;
duration = 421;
initialDepth = 845.155108;
finalDepth = 844.290907;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2028130000001
#   Actual altitude:          57.2028130000001
#   Commanded vehicle depth:  844.290907 
#   Seafloor depth:           -901.493720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.421768 meters
#   Minimum depth: 895.155108 meters looking forward 100.000000 meters along route
#   Maximum depth: 918.110253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 845.155108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131775;
longitude = -116.236078;
duration = 421;
initialDepth = 869.630626;
finalDepth = 845.155108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2028130000001
#   Actual altitude:          57.2028130000001
#   Commanded vehicle depth:  845.155108 
#   Seafloor depth:           -897.995819
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.421519 meters
#   Minimum depth: 919.630626 meters looking forward 100.000000 meters along route
#   Maximum depth: 931.790576 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 869.630626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132067;
longitude = -116.235046;
duration = 421;
initialDepth = 881.211249;
finalDepth = 869.630626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8407109999999
#   Actual altitude:          52.8407109999999
#   Commanded vehicle depth:  869.630626 
#   Seafloor depth:           -919.630626
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.421267 meters
#   Minimum depth: 931.211249 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.973177 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 881.211249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132359;
longitude = -116.234015;
duration = 421;
initialDepth = 870.321180;
finalDepth = 881.211249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2745080000001
#   Actual altitude:          51.2745080000001
#   Commanded vehicle depth:  881.211249 
#   Seafloor depth:           -932.485757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 107.712777 meters
#   Minimum depth: 920.321180 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.339326 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 870.321180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132651;
longitude = -116.232984;
duration = 430;
initialDepth = 870.558979;
finalDepth = 870.321180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.018146
#   Actual altitude:          58.018146
#   Commanded vehicle depth:  870.32118 
#   Seafloor depth:           -928.339326
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.129009 meters
#   Minimum depth: 920.558979 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.417571 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 870.558979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132950;
longitude = -116.231930;
duration = 412;
initialDepth = 894.222825;
finalDepth = 870.558979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.018146
#   Actual altitude:          58.018146
#   Commanded vehicle depth:  870.558979 
#   Seafloor depth:           -920.558979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.420517 meters
#   Minimum depth: 944.222825 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.044679 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.222825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133236;
longitude = -116.230921;
duration = 421;
initialDepth = 908.432182;
finalDepth = 894.222825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  894.222825 
#   Seafloor depth:           -944.222825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.420268 meters
#   Minimum depth: 958.432182 meters looking forward 100.000000 meters along route
#   Maximum depth: 961.023216 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 908.432182 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133528;
longitude = -116.229890;
duration = 421;
initialDepth = 910.826946;
finalDepth = 908.432182;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.800218
#   Actual altitude:          51.800218
#   Commanded vehicle depth:  908.432182 
#   Seafloor depth:           -960.232400
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.420017 meters
#   Minimum depth: 960.826946 meters looking forward 100.000000 meters along route
#   Maximum depth: 964.811462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 910.826946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133820;
longitude = -116.228859;
duration = 421;
initialDepth = 914.234953;
finalDepth = 910.826946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.800218
#   Actual altitude:          51.800218
#   Commanded vehicle depth:  910.826946 
#   Seafloor depth:           -960.826946
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.419768 meters
#   Minimum depth: 964.234953 meters looking forward 100.000000 meters along route
#   Maximum depth: 971.251369 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 914.234953 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134113;
longitude = -116.227827;
duration = 421;
initialDepth = 916.800069;
finalDepth = 914.234953;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  914.234953 
#   Seafloor depth:           -964.234953
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.419517 meters
#   Minimum depth: 966.800069 meters looking forward 100.000000 meters along route
#   Maximum depth: 970.030099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.800069 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134405;
longitude = -116.226796;
duration = 421;
initialDepth = 898.831307;
finalDepth = 916.800069;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2300299999999
#   Actual altitude:          53.2300299999999
#   Commanded vehicle depth:  916.800069 
#   Seafloor depth:           -970.030099
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.419267 meters
#   Minimum depth: 948.831307 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.744949 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 898.831307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134697;
longitude = -116.225765;
duration = 421;
initialDepth = 875.866640;
finalDepth = 898.831307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.913642
#   Actual altitude:          66.913642
#   Commanded vehicle depth:  898.831307 
#   Seafloor depth:           -965.744949
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.419018 meters
#   Minimum depth: 925.866640 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.946059 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.866640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134989;
longitude = -116.224734;
duration = 421;
initialDepth = 854.366146;
finalDepth = 875.866640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.079419
#   Actual altitude:          72.079419
#   Commanded vehicle depth:  875.86664 
#   Seafloor depth:           -947.946059
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 105.418767 meters
#   Minimum depth: 904.366146 meters looking forward 100.000000 meters along route
#   Maximum depth: 919.159938 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 854.366146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135281;
longitude = -116.223702;
duration = 421;
initialDepth = 854.217055;
finalDepth = 854.366146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.079419
#   Actual altitude:          72.079419
#   Commanded vehicle depth:  854.366146 
#   Seafloor depth:           -919.159938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 111.147778 meters
#   Minimum depth: 904.217055 meters looking forward 100.000000 meters along route
#   Maximum depth: 910.802121 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 854.217055 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135574;
longitude = -116.222671;
duration = 444;
initialDepth = 850.803357;
finalDepth = 854.217055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.7937920000001
#   Actual altitude:          64.7937920000001
#   Commanded vehicle depth:  854.217055 
#   Seafloor depth:           -904.217055
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 108.473852 meters
#   Minimum depth: 900.803357 meters looking forward 100.000000 meters along route
#   Maximum depth: 911.402505 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 850.803357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.135882;
longitude = -116.221584;
duration = 433;
initialDepth = 823.635591;
finalDepth = 850.803357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.857027
#   Actual altitude:          57.857027
#   Commanded vehicle depth:  850.803357 
#   Seafloor depth:           -908.660384
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 153.220983 meters
#   Minimum depth: 873.635591 meters looking forward 100.000000 meters along route
#   Maximum depth: 901.368327 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 823.635591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.136183;
longitude = -116.220523;
duration = 612;
# abortOnTimeout    = True; 
initialDepth = 821.965169;
finalDepth = 823.635591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       77.732736
#   Actual altitude:          77.732736
#   Commanded vehicle depth:  823.635591 
#   Seafloor depth:           -901.368327
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 96.596187 meters
#   Minimum depth: 871.965169 meters looking forward 100.000000 meters along route
#   Maximum depth: 880.970504 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 821.965169 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134905;
longitude = -116.219921;
duration = 386;
# abortOnTimeout    = True; 
initialDepth = 827.402344;
finalDepth = 821.965169;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.732736
#   Actual altitude:          77.732736
#   Commanded vehicle depth:  821.965169 
#   Seafloor depth:           -871.965169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.377898 meters
#   Minimum depth: 877.402344 meters looking forward 100.000000 meters along route
#   Maximum depth: 879.684068 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 827.402344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134638;
longitude = -116.220866;
duration = 421;
initialDepth = 834.584506;
finalDepth = 827.402344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.373553
#   Actual altitude:          51.373553
#   Commanded vehicle depth:  827.402344 
#   Seafloor depth:           -878.775897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.378146 meters
#   Minimum depth: 884.584506 meters looking forward 100.000000 meters along route
#   Maximum depth: 905.085864 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.584506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134347;
longitude = -116.221898;
duration = 421;
initialDepth = 856.870726;
finalDepth = 834.584506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.373553
#   Actual altitude:          51.373553
#   Commanded vehicle depth:  834.584506 
#   Seafloor depth:           -884.584506
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.378395 meters
#   Minimum depth: 906.870726 meters looking forward 100.000000 meters along route
#   Maximum depth: 920.517167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 856.870726 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.134056;
longitude = -116.222929;
duration = 421;
initialDepth = 875.410869;
finalDepth = 856.870726;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  856.870726 
#   Seafloor depth:           -906.870726
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.378644 meters
#   Minimum depth: 925.410869 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.890328 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.410869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133765;
longitude = -116.223960;
duration = 421;
initialDepth = 889.627197;
finalDepth = 875.410869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  875.410869 
#   Seafloor depth:           -925.410869
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 108.013369 meters
#   Minimum depth: 939.627197 meters looking forward 100.000000 meters along route
#   Maximum depth: 942.501429 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.627197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133474;
longitude = -116.224991;
duration = 432;
initialDepth = 889.234717;
finalDepth = 889.627197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.132567
#   Actual altitude:          50.132567
#   Commanded vehicle depth:  889.627197 
#   Seafloor depth:           -939.759764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.744666 meters
#   Minimum depth: 939.234717 meters looking forward 100.000000 meters along route
#   Maximum depth: 942.341315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.234717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.133175;
longitude = -116.226048;
duration = 410;
initialDepth = 884.805455;
finalDepth = 889.234717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.106598
#   Actual altitude:          53.106598
#   Commanded vehicle depth:  889.234717 
#   Seafloor depth:           -942.341315
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.379391 meters
#   Minimum depth: 934.805455 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.351610 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.805455 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132892;
longitude = -116.227054;
duration = 421;
initialDepth = 886.897636;
finalDepth = 884.805455;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.106598
#   Actual altitude:          53.106598
#   Commanded vehicle depth:  884.805455 
#   Seafloor depth:           -937.351610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.379640 meters
#   Minimum depth: 936.897636 meters looking forward 100.000000 meters along route
#   Maximum depth: 946.749045 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.897636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132601;
longitude = -116.228085;
duration = 421;
initialDepth = 899.891863;
finalDepth = 886.897636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.546155
#   Actual altitude:          52.546155
#   Commanded vehicle depth:  886.897636 
#   Seafloor depth:           -936.897636
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.379889 meters
#   Minimum depth: 949.891863 meters looking forward 100.000000 meters along route
#   Maximum depth: 953.962390 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 899.891863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132310;
longitude = -116.229117;
duration = 421;
initialDepth = 897.619458;
finalDepth = 899.891863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  899.891863 
#   Seafloor depth:           -949.891863
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.380138 meters
#   Minimum depth: 947.619458 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.415443 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.619458 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132019;
longitude = -116.230148;
duration = 421;
initialDepth = 888.954568;
finalDepth = 897.619458;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.795985
#   Actual altitude:          56.795985
#   Commanded vehicle depth:  897.619458 
#   Seafloor depth:           -954.415443
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.380387 meters
#   Minimum depth: 938.954568 meters looking forward 100.000000 meters along route
#   Maximum depth: 943.058550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.954568 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131728;
longitude = -116.231179;
duration = 421;
initialDepth = 889.826190;
finalDepth = 888.954568;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.795985
#   Actual altitude:          56.795985
#   Commanded vehicle depth:  888.954568 
#   Seafloor depth:           -943.058550
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.380637 meters
#   Minimum depth: 939.826190 meters looking forward 100.000000 meters along route
#   Maximum depth: 951.012185 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 889.826190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131437;
longitude = -116.232210;
duration = 421;
initialDepth = 895.550311;
finalDepth = 889.826190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.103982
#   Actual altitude:          54.103982
#   Commanded vehicle depth:  889.82619 
#   Seafloor depth:           -939.826190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.380885 meters
#   Minimum depth: 945.550311 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.907626 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.550311 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131146;
longitude = -116.233242;
duration = 421;
initialDepth = 878.125900;
finalDepth = 895.550311;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.606488
#   Actual altitude:          51.606488
#   Commanded vehicle depth:  895.550311 
#   Seafloor depth:           -947.156799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.381134 meters
#   Minimum depth: 928.125900 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.143631 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 878.125900 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130855;
longitude = -116.234273;
duration = 421;
initialDepth = 875.589503;
finalDepth = 878.125900;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.017731
#   Actual altitude:          59.017731
#   Commanded vehicle depth:  878.1259 
#   Seafloor depth:           -937.143631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.381384 meters
#   Minimum depth: 925.589503 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.893145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.589503 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130564;
longitude = -116.235304;
duration = 421;
initialDepth = 869.191223;
finalDepth = 875.589503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.017731
#   Actual altitude:          59.017731
#   Commanded vehicle depth:  875.589503 
#   Seafloor depth:           -925.589503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 105.381633 meters
#   Minimum depth: 919.191223 meters looking forward 100.000000 meters along route
#   Maximum depth: 922.904187 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 869.191223 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130273;
longitude = -116.236336;
duration = 421;
initialDepth = 868.597268;
finalDepth = 869.191223;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7129639999999
#   Actual altitude:          53.7129639999999
#   Commanded vehicle depth:  869.191223 
#   Seafloor depth:           -922.904187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 122.945553 meters
#   Minimum depth: 918.597268 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.270466 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.597268 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129982;
longitude = -116.237367;
duration = 491;
initialDepth = 873.154148;
finalDepth = 868.597268;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.7129639999999
#   Actual altitude:          53.7129639999999
#   Commanded vehicle depth:  868.597268 
#   Seafloor depth:           -918.597268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 123.007921 meters
#   Minimum depth: 923.154148 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.326904 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 873.154148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129642;
longitude = -116.238570;
duration = 492;
# abortOnTimeout    = True; 
initialDepth = 868.586843;
finalDepth = 873.154148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.172756
#   Actual altitude:          56.172756
#   Commanded vehicle depth:  873.154148 
#   Seafloor depth:           -929.326904
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.435089 meters
#   Minimum depth: 918.586843 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.250868 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 868.586843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.129984;
longitude = -116.237367;
duration = 421;
initialDepth = 872.924989;
finalDepth = 868.586843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.172756
#   Actual altitude:          56.172756
#   Commanded vehicle depth:  868.586843 
#   Seafloor depth:           -918.586843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.434839 meters
#   Minimum depth: 922.924989 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.783643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.924989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130276;
longitude = -116.236336;
duration = 421;
initialDepth = 875.628369;
finalDepth = 872.924989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  872.924989 
#   Seafloor depth:           -922.924989
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.434588 meters
#   Minimum depth: 925.628369 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.401159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.628369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130569;
longitude = -116.235304;
duration = 421;
initialDepth = 886.983961;
finalDepth = 875.628369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  875.628369 
#   Seafloor depth:           -925.628369
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.434338 meters
#   Minimum depth: 936.983961 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.674928 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.983961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.130861;
longitude = -116.234273;
duration = 421;
initialDepth = 893.983684;
finalDepth = 886.983961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  886.983961 
#   Seafloor depth:           -936.983961
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.434087 meters
#   Minimum depth: 943.983684 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.924409 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.983684 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131154;
longitude = -116.233242;
duration = 421;
initialDepth = 888.796882;
finalDepth = 893.983684;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1269239999999
#   Actual altitude:          53.1269239999999
#   Commanded vehicle depth:  893.983684 
#   Seafloor depth:           -947.110608
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 105.433837 meters
#   Minimum depth: 938.796882 meters looking forward 100.000000 meters along route
#   Maximum depth: 939.644877 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 888.796882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131446;
longitude = -116.232210;
duration = 421;
initialDepth = 892.950498;
finalDepth = 888.796882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1269239999999
#   Actual altitude:          53.1269239999999
#   Commanded vehicle depth:  888.796882 
#   Seafloor depth:           -939.644877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 111.291001 meters
#   Minimum depth: 942.950498 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.490033 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.950498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.131739;
longitude = -116.231179;
duration = 445;
initialDepth = 900.031374;
finalDepth = 892.950498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.847995
#   Actual altitude:          50.847995
#   Commanded vehicle depth:  892.950498 
#   Seafloor depth:           -942.950498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 108.362022 meters
#   Minimum depth: 950.031374 meters looking forward 100.000000 meters along route
#   Maximum depth: 954.238844 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 947.375846 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.031374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 29.132048;
longitude = -116.230091;
duration = 433;
initialDepth = 899.444336;
finalDepth = 900.031374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.2074699999999
#   Actual altitude:          54.2074699999999
#   Commanded vehicle depth:  900.031374 
#   Seafloor depth:           -954.238844
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.2074699999999
#   Sonar parameter altitude: 54.2074699999999
#   Commanded vehicle depth:  899.444336 
#   Seafloor depth:           -949.444336
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 36;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 27.10;
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;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint behavior to get back to start of line 1
#   Segment length 108.362022 meters
#   Minimum depth: 949.444336 meters looking forward 100.000000 meters along route
#   Maximum depth: 953.722374 meters looking forward 100.000000 meters along route
#   Vehicle depth: 899.444336 meters
behavior waypoint
{
latitude = 29.132349;
longitude = -116.229031;
duration = 1798;
depth = 899.444336;
speed = 1.500000;
}
# 
# Zero speed hang to allow final nav updates over acoustic modem
# - must get start survey command over acoustic modem or mission aborts
behavior StartSurvey
{
duration = 300;
}
# 
# Acoustic update 4 - sent status ping at beginning of StartSurvey behavior 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Spiral descend behavior to get to proper depth at start of line 1 
#   Behavior depth of 899.444336 meters set by local depth and desired altitude
behavior descend
{
duration = 3415;
horizontalMode = rudder;
horizontal = 2.000000;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 889.444336;
minAltitude = 50.000000;
}
# 
# Acoustic update 5 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# Waypoint behavior to get to start of line 1
#   Segment length 108.362022 meters
#   Minimum depth: 949.444336 meters looking forward 100.000000 meters along route
#   Maximum depth: 953.722374 meters looking forward 100.000000 meters along route
#   Vehicle depth: 50.000000 meters
behavior waypoint
{
latitude = 29.132349;
longitude = -116.229031;
duration = 2000;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 180.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 180.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off 
# 
behavior reson
{
duration = 6;
MB_Mode = 1;
Log_Mode = 0;
SBP_Mode = 0;
SBP_Power = 0.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 0;
LoSS_Power = 0.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 0;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 36;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000060;
MB_Bottom_Detect_Filter_Min_Range = 25.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
