# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <haxby> at <Sat Nov 10 17:59:33 MST 2018>
# 
# Program mbm_route2mission version:
#     r
# 
# Mission Summary:
#     Route File:               2018PB_5v3.rte
#     Mission File:             2018PB_5v3.cfg
#     Distance:                 81538.480568 (m)
#     Estimated Time:           58845 (s)  16.346 (hr)
#     Abort Time:               74697 (s)
#     Max battery life:         79200 (s)
#     Safety margin:            900 (s)
#     Ascend time:              5404 (s)
#     Way Points:               71
#     Route Points:             756
#     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:           42 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            6e-05 usec
#                                 Multibeam minimum range fraction: 0.5
#                                 Multibeam maximum range fraction: 4.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 45 (m)
#     Abort Vehicle Altitude 1:   15 (m)
#     Delta Depth Restart 1:      30 (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:      3776.651476 (m)
#     Abort Vehicle Depth:        3799.151476 (m)
#     Descent Vehicle Depth:      3 (m)
#     Spiral descent depth:       3627.42926 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 -108.863717 23.964054 -3687.429260 0.000000 3
#   1 -108.864928 23.965288 -3678.440247 184.076833 3
#   2 -108.863717 23.964054 -3687.429260 368.153666 3
#   3 -108.872357 23.965647 -3616.547791 1265.215723 3
#   4 -108.872042 23.966970 -3632.463745 1415.241316 3
#   5 -108.863435 23.965240 -3688.626343 2312.121712 3
#   6 -108.863120 23.966563 -3692.438354 2462.148050 3
#   7 -108.871727 23.968292 -3623.703369 3358.996198 3
#   8 -108.871412 23.969615 -3626.164429 3509.021748 3
#   9 -108.862805 23.967886 -3688.431519 4405.861309 3
#   10 -108.862490 23.969209 -3691.992737 4555.887605 3
#   11 -108.871098 23.970938 -3646.306335 5452.818024 3
#   12 -108.870783 23.972261 -3662.699646 5602.843532 3
#   13 -108.862175 23.970532 -3684.367432 6499.765362 3
#   14 -108.861861 23.971854 -3676.755493 6649.661659 3
#   15 -108.870468 23.973584 -3684.405396 7546.499126 3
#   16 -108.868335 23.978410 -3707.383789 8123.473899 3
#   17 -108.867385 23.984700 -3700.053711 8826.943126 3
#   18 -108.863848 23.992374 -3758.150757 9750.186149 3
#   19 -108.862636 23.995113 -3746.768799 10077.723495 3
#   20 -108.861096 24.000861 -3735.486511 10733.483764 3
#   21 -108.862472 24.003479 -3735.367513 11055.559149 3
#   22 -108.860277 24.008836 -3778.485026 11689.635463 3
#   23 -108.859196 24.012899 -3779.061198 12152.966494 3
#   24 -108.858640 24.015849 -3780.010742 12484.572407 3
#   25 -108.844359 24.011093 -3788.100342 14030.324620 3
#   26 -108.848126 24.001493 -3788.554626 15160.793793 3
#   27 -108.825591 23.994119 -3783.884521 17595.401787 3
#   28 -108.825099 23.995383 -3783.984009 17744.112788 3
#   29 -108.847634 24.002667 -3790.548706 20175.373883 3
#   30 -108.847143 24.003931 -3788.917053 20324.047857 3
#   31 -108.824739 23.996617 -3779.920837 22743.827122 3
#   32 -108.824215 23.997821 -3780.034668 22887.473788 3
#   33 -108.846619 24.005134 -3789.785400 25307.196697 3
#   34 -108.846226 24.006308 -3790.893799 25443.262624 3
#   35 -108.823658 23.998965 -3772.398926 27879.807902 3
#   36 -108.823232 24.000078 -3766.731018 28010.507501 3
#   37 -108.845767 24.007452 -3791.072449 30445.019266 3
#   38 -108.845243 24.008746 -3789.715576 30597.965260 3
#   39 -108.815109 23.998784 -3742.652344 33857.163373 3
#   40 -108.814716 23.999958 -3715.136393 33993.205268 3
#   41 -108.844883 24.009890 -3789.342346 37254.430499 3
#   42 -108.844359 24.011003 -3788.031006 37388.765262 3
#   43 -108.814422 24.001041 -3701.631836 40629.131132 3
#   44 -108.814094 24.002245 -3687.327474 40766.596012 3
#   45 -108.843868 24.012177 -3787.340820 43990.171777 3
#   46 -108.843376 24.013351 -3789.080750 44129.531516 3
#   47 -108.813439 24.003208 -3678.071106 47376.707211 3
#   48 -108.813341 24.004563 -3666.394653 47527.147325 3
#   49 -108.843081 24.014524 -3785.926636 50748.531684 3
#   50 -108.842590 24.015698 -3786.620361 50887.854666 3
#   51 -108.813406 24.005857 -3653.677673 54051.508483 3
#   52 -108.813504 24.007301 -3651.904968 54211.787841 3
#   53 -108.842132 24.016932 -3785.141479 57314.282627 3
#   54 -108.841607 24.018136 -3783.553284 57457.962905 3
#   55 -108.813537 24.008806 -3650.084900 60495.665311 3
#   56 -108.813832 24.010341 -3649.581055 60668.344886 3
#   57 -108.841116 24.019310 -3784.435364 63617.218603 3
#   58 -108.840658 24.020543 -3781.850403 63761.542275 3
#   59 -108.814291 24.011635 -3644.462158 66620.366325 3
#   60 -108.814782 24.012989 -3648.745117 66778.467929 3
#   61 -108.840363 24.021627 -3778.845459 69551.877069 3
#   62 -108.839872 24.022891 -3778.055542 69700.549478 3
#   63 -108.815175 24.014344 -3644.743164 72386.112605 3
#   64 -108.815502 24.015578 -3637.129700 72526.808870 3
#   65 -108.839347 24.024095 -3774.537170 75130.193456 3
#   66 -108.838856 24.025269 -3766.740112 75269.515537 3
#   67 -108.816092 24.016932 -3633.383850 77763.222170 3
#   68 -108.816551 24.018316 -3624.082520 77923.500585 3
#   69 -108.841935 24.027676 -3762.359497 80706.791518 3
#   70 -108.842426 24.035170 -3602.893066 81538.480568 3
# 
# A total of 756 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 62100;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 3776.651476;
abortDepth = 3799.151476;
minAltitude = 45.000000;
abortAltitude = 15.000000;
deltaDepthRestart = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 5404;
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 70
#   Segment length 123.581858 meters
#   Minimum depth: 3602.893066 meters looking forward 100.000000 meters along route
#   Maximum depth: 3622.594290 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3552.893066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.035170;
longitude = -108.842426;
duration = 494;
# abortOnTimeout    = True; 
initialDepth = 3574.228427;
finalDepth = 3552.893066;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3552.893066 
#   Seafloor depth:           -3602.893066
# 
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 70
#   Segment length 100.201195 meters
#   Minimum depth: 3624.228427 meters looking forward 100.000000 meters along route
#   Maximum depth: 3649.461683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3574.228427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.034056;
longitude = -108.842353;
duration = 400;
initialDepth = 3601.077256;
finalDepth = 3574.228427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3574.228427 
#   Seafloor depth:           -3624.228427
# 
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 70
#   Segment length 100.201191 meters
#   Minimum depth: 3652.316453 meters looking forward 100.000000 meters along route
#   Maximum depth: 3683.531191 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3601.077256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.033154;
longitude = -108.842294;
duration = 400;
initialDepth = 3627.424955;
finalDepth = 3601.077256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2391971987277
#   Actual altitude:          51.2391971987277
#   Commanded vehicle depth:  3601.07725580127 
#   Seafloor depth:           -3652.316453
# 
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 70
#   Segment length 100.201185 meters
#   Minimum depth: 3677.424955 meters looking forward 100.000000 meters along route
#   Maximum depth: 3684.674271 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3627.424955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.032251;
longitude = -108.842235;
duration = 400;
initialDepth = 3633.916018;
finalDepth = 3627.424955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2493159999999
#   Actual altitude:          57.2493159999999
#   Commanded vehicle depth:  3627.424955 
#   Seafloor depth:           -3684.674271
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 100.201180 meters
#   Minimum depth: 3683.916018 meters looking forward 100.000000 meters along route
#   Maximum depth: 3735.094764 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3633.916018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.031348;
longitude = -108.842176;
duration = 400;
initialDepth = 3660.764843;
finalDepth = 3633.916018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2493159999999
#   Actual altitude:          57.2493159999999
#   Commanded vehicle depth:  3633.916018 
#   Seafloor depth:           -3683.916018
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 100.201174 meters
#   Minimum depth: 3737.947509 meters looking forward 100.000000 meters along route
#   Maximum depth: 3752.319402 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3660.764843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.030445;
longitude = -108.842116;
duration = 400;
initialDepth = 3687.613666;
finalDepth = 3660.764843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.1826662179651
#   Actual altitude:          77.1826662179651
#   Commanded vehicle depth:  3660.76484278203 
#   Seafloor depth:           -3737.947509
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 100.201170 meters
#   Minimum depth: 3753.168630 meters looking forward 100.000000 meters along route
#   Maximum depth: 3757.837349 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3687.613666 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.029542;
longitude = -108.842057;
duration = 400;
initialDepth = 3708.235476;
finalDepth = 3687.613666;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.1826662179651
#   Actual altitude:          77.1826662179651
#   Commanded vehicle depth:  3687.61366595638 
#   Seafloor depth:           -3753.168630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 106.900097 meters
#   Minimum depth: 3758.235476 meters looking forward 100.000000 meters along route
#   Maximum depth: 3762.005170 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3708.235476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.028639;
longitude = -108.841998;
duration = 427;
initialDepth = 3712.359497;
finalDepth = 3708.235476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       65.554964043622
#   Actual altitude:          65.554964043622
#   Commanded vehicle depth:  3708.235476 
#   Seafloor depth:           -3758.235476
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 69
#   Segment length 93.369097 meters
#   Minimum depth: 3762.359497 meters looking forward 100.000000 meters along route
#   Maximum depth: 3764.151624 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3712.359497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.027676;
longitude = -108.841935;
duration = 373;
# abortOnTimeout    = True; 
initialDepth = 3711.134662;
finalDepth = 3712.359497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3712.359497 
#   Seafloor depth:           -3762.359497
# 
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 69
#   Segment length 107.738650 meters
#   Minimum depth: 3761.134662 meters looking forward 100.000000 meters along route
#   Maximum depth: 3764.140035 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3711.134662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.027362;
longitude = -108.841083;
duration = 430;
initialDepth = 3709.803255;
finalDepth = 3711.134662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.005373
#   Actual altitude:          53.005373
#   Commanded vehicle depth:  3711.134662 
#   Seafloor depth:           -3764.140035
# 
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 69
#   Segment length 107.738968 meters
#   Minimum depth: 3759.803255 meters looking forward 100.000000 meters along route
#   Maximum depth: 3760.958469 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3709.803255 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.027000;
longitude = -108.840101;
duration = 430;
initialDepth = 3708.149393;
finalDepth = 3709.803255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.005373
#   Actual altitude:          53.005373
#   Commanded vehicle depth:  3709.803255 
#   Seafloor depth:           -3760.958469
# 
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 69
#   Segment length 107.739287 meters
#   Minimum depth: 3758.149393 meters looking forward 100.000000 meters along route
#   Maximum depth: 3759.944334 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3708.149393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.026637;
longitude = -108.839118;
duration = 430;
initialDepth = 3708.125940;
finalDepth = 3708.149393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7949409999997
#   Actual altitude:          51.7949409999997
#   Commanded vehicle depth:  3708.149393 
#   Seafloor depth:           -3759.944334
# 
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 69
#   Segment length 107.739605 meters
#   Minimum depth: 3758.125940 meters looking forward 100.000000 meters along route
#   Maximum depth: 3759.275792 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3708.125940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.026275;
longitude = -108.838136;
duration = 430;
initialDepth = 3709.455253;
finalDepth = 3708.125940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7949409999997
#   Actual altitude:          51.7949409999997
#   Commanded vehicle depth:  3708.12594 
#   Seafloor depth:           -3758.125940
# 
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 69
#   Segment length 107.739923 meters
#   Minimum depth: 3759.455253 meters looking forward 100.000000 meters along route
#   Maximum depth: 3766.471569 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3709.455253 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.025913;
longitude = -108.837153;
duration = 430;
initialDepth = 3716.914476;
finalDepth = 3709.455253;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3709.455253 
#   Seafloor depth:           -3759.455253
# 
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 69
#   Segment length 107.740241 meters
#   Minimum depth: 3766.914476 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.483127 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3716.914476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.025550;
longitude = -108.836170;
duration = 430;
initialDepth = 3712.582816;
finalDepth = 3716.914476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3716.914476 
#   Seafloor depth:           -3766.914476
# 
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 69
#   Segment length 107.740560 meters
#   Minimum depth: 3762.582816 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.004011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3712.582816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.025188;
longitude = -108.835188;
duration = 430;
initialDepth = 3680.147932;
finalDepth = 3712.582816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.4211949999999
#   Actual altitude:          54.4211949999999
#   Commanded vehicle depth:  3712.582816 
#   Seafloor depth:           -3767.004011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.740878 meters
#   Minimum depth: 3730.147932 meters looking forward 100.000000 meters along route
#   Maximum depth: 3762.163318 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3680.147932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.024826;
longitude = -108.834205;
duration = 430;
initialDepth = 3636.809418;
finalDepth = 3680.147932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.015386
#   Actual altitude:          82.015386
#   Commanded vehicle depth:  3680.147932 
#   Seafloor depth:           -3762.163318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.741196 meters
#   Minimum depth: 3686.809418 meters looking forward 100.000000 meters along route
#   Maximum depth: 3726.077122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3636.809418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.024463;
longitude = -108.833222;
duration = 430;
initialDepth = 3630.108189;
finalDepth = 3636.809418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.2677040000003
#   Actual altitude:          89.2677040000003
#   Commanded vehicle depth:  3636.809418 
#   Seafloor depth:           -3726.077122
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.741515 meters
#   Minimum depth: 3680.108189 meters looking forward 100.000000 meters along route
#   Maximum depth: 3686.356974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3630.108189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.024101;
longitude = -108.832240;
duration = 430;
initialDepth = 3603.808096;
finalDepth = 3630.108189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.2677040000003
#   Actual altitude:          89.2677040000003
#   Commanded vehicle depth:  3630.108189 
#   Seafloor depth:           -3686.356974
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.741834 meters
#   Minimum depth: 3653.808096 meters looking forward 100.000000 meters along route
#   Maximum depth: 3678.755260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3603.808096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023739;
longitude = -108.831257;
duration = 430;
initialDepth = 3598.356081;
finalDepth = 3603.808096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.9471639999997
#   Actual altitude:          74.9471639999997
#   Commanded vehicle depth:  3603.808096 
#   Seafloor depth:           -3678.755260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.742151 meters
#   Minimum depth: 3648.356081 meters looking forward 100.000000 meters along route
#   Maximum depth: 3652.492932 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3598.356081 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023376;
longitude = -108.830275;
duration = 430;
initialDepth = 3595.389821;
finalDepth = 3598.356081;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.9471639999997
#   Actual altitude:          74.9471639999997
#   Commanded vehicle depth:  3598.356081 
#   Seafloor depth:           -3652.492932
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.742471 meters
#   Minimum depth: 3645.389821 meters looking forward 100.000000 meters along route
#   Maximum depth: 3651.355961 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3595.389821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023014;
longitude = -108.829292;
duration = 430;
initialDepth = 3583.580145;
finalDepth = 3595.389821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.3750619999996
#   Actual altitude:          55.3750619999996
#   Commanded vehicle depth:  3595.389821 
#   Seafloor depth:           -3650.764883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.742788 meters
#   Minimum depth: 3633.580145 meters looking forward 100.000000 meters along route
#   Maximum depth: 3644.226185 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3583.580145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022652;
longitude = -108.828309;
duration = 430;
initialDepth = 3578.696899;
finalDepth = 3583.580145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.6460400000001
#   Actual altitude:          60.6460400000001
#   Commanded vehicle depth:  3583.580145 
#   Seafloor depth:           -3644.226185
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.743108 meters
#   Minimum depth: 3628.696899 meters looking forward 100.000000 meters along route
#   Maximum depth: 3632.987487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3578.696899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022289;
longitude = -108.827327;
duration = 430;
initialDepth = 3578.898956;
finalDepth = 3578.696899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.6460400000001
#   Actual altitude:          60.6460400000001
#   Commanded vehicle depth:  3578.696899 
#   Seafloor depth:           -3632.987487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.743425 meters
#   Minimum depth: 3628.898956 meters looking forward 100.000000 meters along route
#   Maximum depth: 3634.273052 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3578.898956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021927;
longitude = -108.826344;
duration = 430;
initialDepth = 3584.976044;
finalDepth = 3578.898956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2905879999998
#   Actual altitude:          54.2905879999998
#   Commanded vehicle depth:  3578.898956 
#   Seafloor depth:           -3628.898956
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.743745 meters
#   Minimum depth: 3634.976044 meters looking forward 100.000000 meters along route
#   Maximum depth: 3637.689447 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3584.976044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021565;
longitude = -108.825361;
duration = 430;
initialDepth = 3587.562425;
finalDepth = 3584.976044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3584.976044 
#   Seafloor depth:           -3634.976044
# 
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 69
#   Segment length 107.744063 meters
#   Minimum depth: 3637.562425 meters looking forward 100.000000 meters along route
#   Maximum depth: 3641.986783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3587.562425 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021202;
longitude = -108.824379;
duration = 430;
initialDepth = 3592.576379;
finalDepth = 3587.562425;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3587.562425 
#   Seafloor depth:           -3637.562425
# 
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 69
#   Segment length 107.744381 meters
#   Minimum depth: 3642.576379 meters looking forward 100.000000 meters along route
#   Maximum depth: 3644.509523 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3592.576379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020840;
longitude = -108.823396;
duration = 430;
initialDepth = 3585.028883;
finalDepth = 3592.576379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3592.576379 
#   Seafloor depth:           -3642.576379
# 
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 69
#   Segment length 107.744701 meters
#   Minimum depth: 3635.028883 meters looking forward 100.000000 meters along route
#   Maximum depth: 3641.683134 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3585.028883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020478;
longitude = -108.822414;
duration = 430;
initialDepth = 3584.180752;
finalDepth = 3585.028883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.6542509999999
#   Actual altitude:          56.6542509999999
#   Commanded vehicle depth:  3585.028883 
#   Seafloor depth:           -3641.683134
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.745019 meters
#   Minimum depth: 3634.180752 meters looking forward 100.000000 meters along route
#   Maximum depth: 3635.307591 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3584.180752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020115;
longitude = -108.821431;
duration = 430;
initialDepth = 3573.453576;
finalDepth = 3584.180752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.6542509999999
#   Actual altitude:          56.6542509999999
#   Commanded vehicle depth:  3584.180752 
#   Seafloor depth:           -3634.955519
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.745337 meters
#   Minimum depth: 3623.453576 meters looking forward 100.000000 meters along route
#   Maximum depth: 3633.615412 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3573.453576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019753;
longitude = -108.820448;
duration = 430;
initialDepth = 3567.202453;
finalDepth = 3573.453576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1618360000002
#   Actual altitude:          60.1618360000002
#   Commanded vehicle depth:  3573.453576 
#   Seafloor depth:           -3633.615412
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.745657 meters
#   Minimum depth: 3617.202453 meters looking forward 100.000000 meters along route
#   Maximum depth: 3621.791715 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3567.202453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019391;
longitude = -108.819466;
duration = 430;
initialDepth = 3565.977847;
finalDepth = 3567.202453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1618360000002
#   Actual altitude:          60.1618360000002
#   Commanded vehicle depth:  3567.202453 
#   Seafloor depth:           -3621.791715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 107.745975 meters
#   Minimum depth: 3615.977847 meters looking forward 100.000000 meters along route
#   Maximum depth: 3619.902177 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3565.977847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019028;
longitude = -108.818483;
duration = 430;
initialDepth = 3564.711214;
finalDepth = 3565.977847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.589262
#   Actual altitude:          54.589262
#   Commanded vehicle depth:  3565.977847 
#   Seafloor depth:           -3618.539034
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 104.106358 meters
#   Minimum depth: 3614.711214 meters looking forward 100.000000 meters along route
#   Maximum depth: 3623.533646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3564.711214 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018666;
longitude = -108.817500;
duration = 416;
initialDepth = 3574.082520;
finalDepth = 3564.711214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.5611869999998
#   Actual altitude:          52.5611869999998
#   Commanded vehicle depth:  3564.711214 
#   Seafloor depth:           -3615.161336
# 
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;
}
# 
#######################################################
# 
# 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 68
#   Segment length 160.278415 meters
#   Minimum depth: 3624.082520 meters looking forward 100.000000 meters along route
#   Maximum depth: 3633.160623 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3574.082520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018316;
longitude = -108.816551;
duration = 641;
# abortOnTimeout    = True; 
initialDepth = 3581.481728;
finalDepth = 3574.082520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.4501220000002
#   Actual altitude:          50.4501220000002
#   Commanded vehicle depth:  3574.08252 
#   Seafloor depth:           -3624.082520
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.23;
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 67
#   Segment length 132.763662 meters
#   Minimum depth: 3631.481728 meters looking forward 100.000000 meters along route
#   Maximum depth: 3633.931304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3581.481728 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016932;
longitude = -108.816092;
duration = 531;
# abortOnTimeout    = True; 
initialDepth = 3573.013570;
finalDepth = 3581.481728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.902122
#   Actual altitude:          51.902122
#   Commanded vehicle depth:  3581.481728 
#   Seafloor depth:           -3633.383850
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.645825 meters
#   Minimum depth: 3623.013570 meters looking forward 100.000000 meters along route
#   Maximum depth: 3630.845191 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3573.013570 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017376;
longitude = -108.817304;
duration = 430;
initialDepth = 3566.364267;
finalDepth = 3573.013570;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.8316209999998
#   Actual altitude:          57.8316209999998
#   Commanded vehicle depth:  3573.01357 
#   Seafloor depth:           -3630.845191
# 
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 67
#   Segment length 107.645507 meters
#   Minimum depth: 3616.364267 meters looking forward 100.000000 meters along route
#   Maximum depth: 3622.801454 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3566.364267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017736;
longitude = -108.818287;
duration = 430;
initialDepth = 3565.747791;
finalDepth = 3566.364267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.8316209999998
#   Actual altitude:          57.8316209999998
#   Commanded vehicle depth:  3566.364267 
#   Seafloor depth:           -3622.801454
# 
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 67
#   Segment length 107.645191 meters
#   Minimum depth: 3615.747791 meters looking forward 100.000000 meters along route
#   Maximum depth: 3623.528470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3565.747791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018096;
longitude = -108.819269;
duration = 430;
initialDepth = 3574.523802;
finalDepth = 3565.747791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.437187
#   Actual altitude:          56.437187
#   Commanded vehicle depth:  3565.747791 
#   Seafloor depth:           -3616.130902
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.644873 meters
#   Minimum depth: 3624.523802 meters looking forward 100.000000 meters along route
#   Maximum depth: 3640.718893 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3574.523802 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018455;
longitude = -108.820252;
duration = 430;
initialDepth = 3591.152441;
finalDepth = 3574.523802;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3831110000001
#   Actual altitude:          50.3831110000001
#   Commanded vehicle depth:  3574.523802 
#   Seafloor depth:           -3624.523802
# 
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 67
#   Segment length 107.644556 meters
#   Minimum depth: 3641.152441 meters looking forward 100.000000 meters along route
#   Maximum depth: 3647.531926 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3591.152441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018815;
longitude = -108.821234;
duration = 430;
initialDepth = 3597.824890;
finalDepth = 3591.152441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3591.152441 
#   Seafloor depth:           -3641.152441
# 
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 67
#   Segment length 107.644239 meters
#   Minimum depth: 3647.824890 meters looking forward 100.000000 meters along route
#   Maximum depth: 3653.590800 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3597.824890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019175;
longitude = -108.822217;
duration = 430;
initialDepth = 3603.702935;
finalDepth = 3597.824890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3597.82489 
#   Seafloor depth:           -3647.824890
# 
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 67
#   Segment length 107.643922 meters
#   Minimum depth: 3653.702935 meters looking forward 100.000000 meters along route
#   Maximum depth: 3654.438589 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3603.702935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019535;
longitude = -108.823200;
duration = 430;
initialDepth = 3603.010011;
finalDepth = 3603.702935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3603.702935 
#   Seafloor depth:           -3653.702935
# 
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 67
#   Segment length 107.643605 meters
#   Minimum depth: 3653.010011 meters looking forward 100.000000 meters along route
#   Maximum depth: 3654.368826 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3603.010011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019895;
longitude = -108.824182;
duration = 430;
initialDepth = 3601.982757;
finalDepth = 3603.010011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358815
#   Actual altitude:          51.358815
#   Commanded vehicle depth:  3603.010011 
#   Seafloor depth:           -3654.368826
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.643288 meters
#   Minimum depth: 3651.982757 meters looking forward 100.000000 meters along route
#   Maximum depth: 3652.889918 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3601.982757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020255;
longitude = -108.825165;
duration = 430;
initialDepth = 3602.926827;
finalDepth = 3601.982757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358815
#   Actual altitude:          51.358815
#   Commanded vehicle depth:  3601.982757 
#   Seafloor depth:           -3652.889918
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.642971 meters
#   Minimum depth: 3652.926827 meters looking forward 100.000000 meters along route
#   Maximum depth: 3654.553731 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3602.926827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020615;
longitude = -108.826148;
duration = 430;
initialDepth = 3604.585125;
finalDepth = 3602.926827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9071609999996
#   Actual altitude:          50.9071609999996
#   Commanded vehicle depth:  3602.926827 
#   Seafloor depth:           -3652.926827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.642654 meters
#   Minimum depth: 3654.585125 meters looking forward 100.000000 meters along route
#   Maximum depth: 3665.067289 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3604.585125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020975;
longitude = -108.827130;
duration = 430;
initialDepth = 3615.588734;
finalDepth = 3604.585125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3604.585125 
#   Seafloor depth:           -3654.585125
# 
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 67
#   Segment length 107.642337 meters
#   Minimum depth: 3665.588734 meters looking forward 100.000000 meters along route
#   Maximum depth: 3699.781670 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3615.588734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021334;
longitude = -108.828113;
duration = 430;
initialDepth = 3644.431411;
finalDepth = 3615.588734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3615.588734 
#   Seafloor depth:           -3665.588734
# 
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 67
#   Segment length 107.642020 meters
#   Minimum depth: 3700.495100 meters looking forward 100.000000 meters along route
#   Maximum depth: 3723.868559 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3644.431411 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021694;
longitude = -108.829095;
duration = 430;
initialDepth = 3673.274003;
finalDepth = 3644.431411;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0636892446764
#   Actual altitude:          56.0636892446764
#   Commanded vehicle depth:  3644.43141075532 
#   Seafloor depth:           -3700.495100
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.641703 meters
#   Minimum depth: 3724.116821 meters looking forward 100.000000 meters along route
#   Maximum depth: 3738.961493 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3673.274003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022054;
longitude = -108.830078;
duration = 430;
initialDepth = 3689.151831;
finalDepth = 3673.274003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0636892446764
#   Actual altitude:          56.0636892446764
#   Commanded vehicle depth:  3673.27400257076 
#   Seafloor depth:           -3724.116821
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 107.641387 meters
#   Minimum depth: 3739.151831 meters looking forward 100.000000 meters along route
#   Maximum depth: 3750.779313 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3689.151831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022414;
longitude = -108.831061;
duration = 430;
initialDepth = 3699.319054;
finalDepth = 3689.151831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8428184292447
#   Actual altitude:          50.8428184292447
#   Commanded vehicle depth:  3689.151831 
#   Seafloor depth:           -3739.151831
# 
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 67
#   Segment length 107.641069 meters
#   Minimum depth: 3749.319054 meters looking forward 100.000000 meters along route
#   Maximum depth: 3763.368701 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3699.319054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022774;
longitude = -108.832043;
duration = 430;
initialDepth = 3713.495228;
finalDepth = 3699.319054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9222070000001
#   Actual altitude:          50.9222070000001
#   Commanded vehicle depth:  3699.319054 
#   Seafloor depth:           -3750.241261
# 
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 67
#   Segment length 107.640753 meters
#   Minimum depth: 3763.495228 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.307483 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3713.495228 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023134;
longitude = -108.833026;
duration = 430;
initialDepth = 3721.802910;
finalDepth = 3713.495228;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9222070000001
#   Actual altitude:          50.9222070000001
#   Commanded vehicle depth:  3713.495228 
#   Seafloor depth:           -3763.495228
# 
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 67
#   Segment length 107.779074 meters
#   Minimum depth: 3771.802910 meters looking forward 100.000000 meters along route
#   Maximum depth: 3773.048650 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.802910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023494;
longitude = -108.834009;
duration = 431;
initialDepth = 3718.497590;
finalDepth = 3721.802910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.50767
#   Actual altitude:          50.50767
#   Commanded vehicle depth:  3721.80291 
#   Seafloor depth:           -3772.310580
# 
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 67
#   Segment length 108.021619 meters
#   Minimum depth: 3768.497590 meters looking forward 100.000000 meters along route
#   Maximum depth: 3771.799291 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3718.497590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023854;
longitude = -108.834992;
duration = 432;
initialDepth = 3717.744753;
finalDepth = 3718.497590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3017009999999
#   Actual altitude:          53.3017009999999
#   Commanded vehicle depth:  3718.49759 
#   Seafloor depth:           -3771.799291
# 
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 67
#   Segment length 108.021299 meters
#   Minimum depth: 3767.744753 meters looking forward 100.000000 meters along route
#   Maximum depth: 3768.488960 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3717.744753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.024215;
longitude = -108.835979;
duration = 432;
initialDepth = 3717.592709;
finalDepth = 3717.744753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3017009999999
#   Actual altitude:          53.3017009999999
#   Commanded vehicle depth:  3717.744753 
#   Seafloor depth:           -3768.488960
# 
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 67
#   Segment length 106.737851 meters
#   Minimum depth: 3767.592709 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.739056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3717.592709 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.024576;
longitude = -108.836965;
duration = 426;
initialDepth = 3716.654408;
finalDepth = 3717.592709;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7442070000002
#   Actual altitude:          50.7442070000002
#   Commanded vehicle depth:  3717.592709 
#   Seafloor depth:           -3767.739056
# 
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 67
#   Segment length 100.447228 meters
#   Minimum depth: 3766.654408 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.697251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3716.654408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.024933;
longitude = -108.837939;
duration = 401;
initialDepth = 3716.740112;
finalDepth = 3716.654408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.0428430000002
#   Actual altitude:          51.0428430000002
#   Commanded vehicle depth:  3716.654408 
#   Seafloor depth:           -3767.697251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.52;
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 66
#   Segment length 139.322081 meters
#   Minimum depth: 3766.740112 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.292497 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3716.740112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.025269;
longitude = -108.838856;
duration = 557;
# abortOnTimeout    = True; 
initialDepth = 3722.229087;
finalDepth = 3716.740112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.0428430000002
#   Actual altitude:          51.0428430000002
#   Commanded vehicle depth:  3716.740112 
#   Seafloor depth:           -3766.740112
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.52;
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 65
#   Segment length 175.172231 meters
#   Minimum depth: 3772.229087 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.537170 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.229087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.024095;
longitude = -108.839347;
duration = 700;
# abortOnTimeout    = True; 
initialDepth = 3722.043602;
finalDepth = 3722.229087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3080829999999
#   Actual altitude:          52.3080829999999
#   Commanded vehicle depth:  3722.229087 
#   Seafloor depth:           -3774.537170
# 
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 65
#   Segment length 107.279370 meters
#   Minimum depth: 3772.043602 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.986672 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.043602 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023522;
longitude = -108.837743;
duration = 429;
initialDepth = 3722.705167;
finalDepth = 3722.043602;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3080829999999
#   Actual altitude:          52.3080829999999
#   Commanded vehicle depth:  3722.043602 
#   Seafloor depth:           -3772.115430
# 
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 65
#   Segment length 107.279680 meters
#   Minimum depth: 3772.705167 meters looking forward 100.000000 meters along route
#   Maximum depth: 3773.293167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.705167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.023171;
longitude = -108.836760;
duration = 429;
initialDepth = 3721.726512;
finalDepth = 3722.705167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4080309999999
#   Actual altitude:          50.4080309999999
#   Commanded vehicle depth:  3722.705167 
#   Seafloor depth:           -3773.113198
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.279992 meters
#   Minimum depth: 3771.726512 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.644879 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.726512 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022820;
longitude = -108.835777;
duration = 429;
initialDepth = 3721.653509;
finalDepth = 3721.726512;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9183669999998
#   Actual altitude:          50.9183669999998
#   Commanded vehicle depth:  3721.726512 
#   Seafloor depth:           -3772.644879
# 
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 65
#   Segment length 100.995047 meters
#   Minimum depth: 3771.653509 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.802910 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.653509 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022469;
longitude = -108.834795;
duration = 403;
initialDepth = 3711.090093;
finalDepth = 3721.653509;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9183669999998
#   Actual altitude:          50.9183669999998
#   Commanded vehicle depth:  3721.653509 
#   Seafloor depth:           -3771.706245
# 
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 65
#   Segment length 102.837794 meters
#   Minimum depth: 3761.090093 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.070933 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3711.090093 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022139;
longitude = -108.833870;
duration = 411;
initialDepth = 3709.034643;
finalDepth = 3711.090093;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.9808400000002
#   Actual altitude:          60.9808400000002
#   Commanded vehicle depth:  3711.090093 
#   Seafloor depth:           -3772.070933
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.280893 meters
#   Minimum depth: 3759.034643 meters looking forward 100.000000 meters along route
#   Maximum depth: 3760.068860 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3709.034643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021802;
longitude = -108.832928;
duration = 429;
initialDepth = 3709.789691;
finalDepth = 3709.034643;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.9808400000002
#   Actual altitude:          60.9808400000002
#   Commanded vehicle depth:  3709.034643 
#   Seafloor depth:           -3760.068860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.281205 meters
#   Minimum depth: 3759.789691 meters looking forward 100.000000 meters along route
#   Maximum depth: 3761.903771 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3709.789691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021451;
longitude = -108.831945;
duration = 429;
initialDepth = 3709.575108;
finalDepth = 3709.789691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0342169999999
#   Actual altitude:          51.0342169999999
#   Commanded vehicle depth:  3709.789691 
#   Seafloor depth:           -3759.789691
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.281516 meters
#   Minimum depth: 3759.575108 meters looking forward 100.000000 meters along route
#   Maximum depth: 3763.070643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3709.575108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021100;
longitude = -108.830962;
duration = 429;
initialDepth = 3695.425960;
finalDepth = 3709.575108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9429620000001
#   Actual altitude:          52.9429620000001
#   Commanded vehicle depth:  3709.575108 
#   Seafloor depth:           -3762.518070
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.281827 meters
#   Minimum depth: 3745.425960 meters looking forward 100.000000 meters along route
#   Maximum depth: 3758.331044 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3695.425960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020749;
longitude = -108.829980;
duration = 429;
initialDepth = 3672.913844;
finalDepth = 3695.425960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.905084
#   Actual altitude:          62.905084
#   Commanded vehicle depth:  3695.42596 
#   Seafloor depth:           -3758.331044
# 
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 65
#   Segment length 102.783584 meters
#   Minimum depth: 3722.913844 meters looking forward 100.000000 meters along route
#   Maximum depth: 3744.602930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3672.913844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020398;
longitude = -108.828997;
duration = 411;
initialDepth = 3666.211191;
finalDepth = 3672.913844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.6890859999999
#   Actual altitude:          71.6890859999999
#   Commanded vehicle depth:  3672.913844 
#   Seafloor depth:           -3744.602930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 101.052745 meters
#   Minimum depth: 3716.211191 meters looking forward 100.000000 meters along route
#   Maximum depth: 3721.293874 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3666.211191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020062;
longitude = -108.828056;
duration = 404;
initialDepth = 3627.572740;
finalDepth = 3666.211191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.6890859999999
#   Actual altitude:          71.6890859999999
#   Commanded vehicle depth:  3666.211191 
#   Seafloor depth:           -3721.293874
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.282729 meters
#   Minimum depth: 3677.572740 meters looking forward 100.000000 meters along route
#   Maximum depth: 3713.885419 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3627.572740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019731;
longitude = -108.827130;
duration = 429;
initialDepth = 3623.869521;
finalDepth = 3627.572740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.3126790000001
#   Actual altitude:          86.3126790000001
#   Commanded vehicle depth:  3627.57274 
#   Seafloor depth:           -3713.885419
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.283041 meters
#   Minimum depth: 3673.869521 meters looking forward 100.000000 meters along route
#   Maximum depth: 3676.437888 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3623.869521 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019380;
longitude = -108.826148;
duration = 429;
initialDepth = 3614.999957;
finalDepth = 3623.869521;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.3126790000001
#   Actual altitude:          86.3126790000001
#   Commanded vehicle depth:  3623.869521 
#   Seafloor depth:           -3676.437888
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.283353 meters
#   Minimum depth: 3664.999957 meters looking forward 100.000000 meters along route
#   Maximum depth: 3673.178124 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3614.999957 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019029;
longitude = -108.825165;
duration = 429;
initialDepth = 3612.047445;
finalDepth = 3614.999957;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.178167
#   Actual altitude:          58.178167
#   Commanded vehicle depth:  3614.999957 
#   Seafloor depth:           -3673.178124
# 
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 65
#   Segment length 101.462417 meters
#   Minimum depth: 3662.047445 meters looking forward 100.000000 meters along route
#   Maximum depth: 3664.587901 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3612.047445 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018678;
longitude = -108.824182;
duration = 405;
initialDepth = 3608.926054;
finalDepth = 3612.047445;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.178167
#   Actual altitude:          58.178167
#   Commanded vehicle depth:  3612.047445 
#   Seafloor depth:           -3664.587901
# 
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 65
#   Segment length 102.376809 meters
#   Minimum depth: 3658.926054 meters looking forward 100.000000 meters along route
#   Maximum depth: 3661.971334 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3608.926054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018347;
longitude = -108.823253;
duration = 409;
initialDepth = 3595.744571;
finalDepth = 3608.926054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0452799999998
#   Actual altitude:          53.0452799999998
#   Commanded vehicle depth:  3608.926054 
#   Seafloor depth:           -3661.971334
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.284255 meters
#   Minimum depth: 3645.744571 meters looking forward 100.000000 meters along route
#   Maximum depth: 3658.199047 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3595.744571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018012;
longitude = -108.822315;
duration = 429;
initialDepth = 3571.952205;
finalDepth = 3595.744571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.4544759999999
#   Actual altitude:          62.4544759999999
#   Commanded vehicle depth:  3595.744571 
#   Seafloor depth:           -3658.199047
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.284567 meters
#   Minimum depth: 3621.952205 meters looking forward 100.000000 meters along route
#   Maximum depth: 3643.587107 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3571.952205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017661;
longitude = -108.821333;
duration = 429;
initialDepth = 3567.991052;
finalDepth = 3571.952205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.6349019999998
#   Actual altitude:          71.6349019999998
#   Commanded vehicle depth:  3571.952205 
#   Seafloor depth:           -3643.587107
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.284878 meters
#   Minimum depth: 3617.991052 meters looking forward 100.000000 meters along route
#   Maximum depth: 3621.717171 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3567.991052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017310;
longitude = -108.820350;
duration = 429;
initialDepth = 3572.805033;
finalDepth = 3567.991052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.6349019999998
#   Actual altitude:          71.6349019999998
#   Commanded vehicle depth:  3567.991052 
#   Seafloor depth:           -3620.286853
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 107.285189 meters
#   Minimum depth: 3622.805033 meters looking forward 100.000000 meters along route
#   Maximum depth: 3631.559200 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3572.805033 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016959;
longitude = -108.819367;
duration = 429;
initialDepth = 3582.132756;
finalDepth = 3572.805033;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2958010000002
#   Actual altitude:          52.2958010000002
#   Commanded vehicle depth:  3572.805033 
#   Seafloor depth:           -3622.805033
# 
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 65
#   Segment length 107.285501 meters
#   Minimum depth: 3632.132756 meters looking forward 100.000000 meters along route
#   Maximum depth: 3643.040050 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3582.132756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016608;
longitude = -108.818385;
duration = 429;
initialDepth = 3590.648576;
finalDepth = 3582.132756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3582.132756 
#   Seafloor depth:           -3632.132756
# 
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 65
#   Segment length 107.285812 meters
#   Minimum depth: 3640.648576 meters looking forward 100.000000 meters along route
#   Maximum depth: 3643.887206 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3590.648576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016257;
longitude = -108.817402;
duration = 429;
initialDepth = 3587.492299;
finalDepth = 3590.648576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6378930000001
#   Actual altitude:          52.6378930000001
#   Commanded vehicle depth:  3590.648576 
#   Seafloor depth:           -3643.286469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 100.180151 meters
#   Minimum depth: 3637.492299 meters looking forward 100.000000 meters along route
#   Maximum depth: 3640.609168 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3587.492299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015906;
longitude = -108.816420;
duration = 400;
initialDepth = 3587.129700;
finalDepth = 3587.492299;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.116869
#   Actual altitude:          53.116869
#   Commanded vehicle depth:  3587.492299 
#   Seafloor depth:           -3640.609168
# 
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 64
#   Segment length 140.696265 meters
#   Minimum depth: 3637.129700 meters looking forward 100.000000 meters along route
#   Maximum depth: 3644.348460 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3587.129700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015578;
longitude = -108.815502;
duration = 562;
# abortOnTimeout    = True; 
initialDepth = 3594.743164;
finalDepth = 3587.129700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.116869
#   Actual altitude:          53.116869
#   Commanded vehicle depth:  3587.1297 
#   Seafloor depth:           -3637.129700
# 
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 63
#   Segment length 151.238238 meters
#   Minimum depth: 3644.743164 meters looking forward 100.000000 meters along route
#   Maximum depth: 3649.013765 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3594.743164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014344;
longitude = -108.815175;
duration = 604;
# abortOnTimeout    = True; 
initialDepth = 3597.060398;
finalDepth = 3594.743164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3594.743164 
#   Seafloor depth:           -3644.743164
# 
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 63
#   Segment length 101.638236 meters
#   Minimum depth: 3647.060398 meters looking forward 100.000000 meters along route
#   Maximum depth: 3649.190743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3597.060398 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014825;
longitude = -108.816566;
duration = 406;
initialDepth = 3597.486760;
finalDepth = 3597.060398;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3519390000001
#   Actual altitude:          51.3519390000001
#   Commanded vehicle depth:  3597.060398 
#   Seafloor depth:           -3648.412337
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 106.854044 meters
#   Minimum depth: 3647.486760 meters looking forward 100.000000 meters along route
#   Maximum depth: 3650.923335 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3597.486760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015149;
longitude = -108.817500;
duration = 427;
initialDepth = 3587.088799;
finalDepth = 3597.486760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3528710000001
#   Actual altitude:          52.3528710000001
#   Commanded vehicle depth:  3597.48676 
#   Seafloor depth:           -3649.839631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 106.853740 meters
#   Minimum depth: 3637.088799 meters looking forward 100.000000 meters along route
#   Maximum depth: 3646.483886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3587.088799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015489;
longitude = -108.818483;
duration = 427;
initialDepth = 3575.857433;
finalDepth = 3587.088799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.3950869999999
#   Actual altitude:          59.3950869999999
#   Commanded vehicle depth:  3587.088799 
#   Seafloor depth:           -3646.483886
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 110.203201 meters
#   Minimum depth: 3625.857433 meters looking forward 100.000000 meters along route
#   Maximum depth: 3636.742726 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3575.857433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015829;
longitude = -108.819466;
duration = 440;
initialDepth = 3575.519888;
finalDepth = 3575.857433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.8852929999998
#   Actual altitude:          60.8852929999998
#   Commanded vehicle depth:  3575.857433 
#   Seafloor depth:           -3636.742726
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 103.503366 meters
#   Minimum depth: 3625.519888 meters looking forward 100.000000 meters along route
#   Maximum depth: 3637.897667 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3575.519888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016180;
longitude = -108.820479;
duration = 414;
initialDepth = 3590.427648;
finalDepth = 3575.519888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.8852929999998
#   Actual altitude:          60.8852929999998
#   Commanded vehicle depth:  3575.519888 
#   Seafloor depth:           -3625.741740
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 106.852827 meters
#   Minimum depth: 3640.427648 meters looking forward 100.000000 meters along route
#   Maximum depth: 3658.974571 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3590.427648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016509;
longitude = -108.821431;
duration = 427;
initialDepth = 3610.677459;
finalDepth = 3590.427648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2218520000001
#   Actual altitude:          50.2218520000001
#   Commanded vehicle depth:  3590.427648 
#   Seafloor depth:           -3640.427648
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 101.710167 meters
#   Minimum depth: 3660.677459 meters looking forward 100.000000 meters along route
#   Maximum depth: 3675.052494 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3610.677459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016849;
longitude = -108.822414;
duration = 406;
initialDepth = 3625.899453;
finalDepth = 3610.677459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3610.677459 
#   Seafloor depth:           -3660.677459
# 
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 63
#   Segment length 101.309366 meters
#   Minimum depth: 3675.899453 meters looking forward 100.000000 meters along route
#   Maximum depth: 3694.129199 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3625.899453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017173;
longitude = -108.823349;
duration = 405;
initialDepth = 3646.365724;
finalDepth = 3625.899453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3625.899453 
#   Seafloor depth:           -3675.899453
# 
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 63
#   Segment length 106.851945 meters
#   Minimum depth: 3696.365724 meters looking forward 100.000000 meters along route
#   Maximum depth: 3704.725637 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3646.365724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017495;
longitude = -108.824281;
duration = 427;
initialDepth = 3650.169279;
finalDepth = 3646.365724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3646.365724 
#   Seafloor depth:           -3696.365724
# 
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 63
#   Segment length 106.851640 meters
#   Minimum depth: 3700.169279 meters looking forward 100.000000 meters along route
#   Maximum depth: 3726.181613 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3650.169279 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017835;
longitude = -108.825263;
duration = 427;
initialDepth = 3677.423971;
finalDepth = 3650.169279;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6362609999996
#   Actual altitude:          50.6362609999996
#   Commanded vehicle depth:  3650.169279 
#   Seafloor depth:           -3700.805540
# 
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 63
#   Segment length 110.527905 meters
#   Minimum depth: 3727.423971 meters looking forward 100.000000 meters along route
#   Maximum depth: 3744.693895 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3677.423971 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018175;
longitude = -108.826246;
duration = 442;
initialDepth = 3695.081028;
finalDepth = 3677.423971;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6362609999996
#   Actual altitude:          50.6362609999996
#   Commanded vehicle depth:  3677.423971 
#   Seafloor depth:           -3727.423971
# 
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 63
#   Segment length 103.174464 meters
#   Minimum depth: 3745.081028 meters looking forward 100.000000 meters along route
#   Maximum depth: 3747.812921 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3695.081028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018527;
longitude = -108.827262;
duration = 412;
initialDepth = 3696.107860;
finalDepth = 3695.081028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3695.081028 
#   Seafloor depth:           -3745.081028
# 
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 63
#   Segment length 106.850728 meters
#   Minimum depth: 3746.107860 meters looking forward 100.000000 meters along route
#   Maximum depth: 3749.252366 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3696.107860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018855;
longitude = -108.828211;
duration = 427;
initialDepth = 3699.313444;
finalDepth = 3696.107860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1003329999999
#   Actual altitude:          50.1003329999999
#   Commanded vehicle depth:  3696.10786 
#   Seafloor depth:           -3746.208193
# 
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 63
#   Segment length 106.850424 meters
#   Minimum depth: 3749.313444 meters looking forward 100.000000 meters along route
#   Maximum depth: 3755.838344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3699.313444 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019196;
longitude = -108.829194;
duration = 427;
initialDepth = 3706.658474;
finalDepth = 3699.313444;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1003329999999
#   Actual altitude:          50.1003329999999
#   Commanded vehicle depth:  3699.313444 
#   Seafloor depth:           -3749.313444
# 
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 63
#   Segment length 108.660415 meters
#   Minimum depth: 3756.658474 meters looking forward 100.000000 meters along route
#   Maximum depth: 3765.319542 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.658474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019536;
longitude = -108.830176;
duration = 434;
initialDepth = 3714.649676;
finalDepth = 3706.658474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3706.658474 
#   Seafloor depth:           -3756.658474
# 
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 63
#   Segment length 105.039520 meters
#   Minimum depth: 3764.649676 meters looking forward 100.000000 meters along route
#   Maximum depth: 3764.862489 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3714.649676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019881;
longitude = -108.831176;
duration = 420;
initialDepth = 3713.845714;
finalDepth = 3714.649676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0868420000002
#   Actual altitude:          50.0868420000002
#   Commanded vehicle depth:  3714.649676 
#   Seafloor depth:           -3764.736518
# 
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 63
#   Segment length 106.849512 meters
#   Minimum depth: 3763.845714 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.088335 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3713.845714 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020216;
longitude = -108.832142;
duration = 427;
initialDepth = 3717.885364;
finalDepth = 3713.845714;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5716849999999
#   Actual altitude:          50.5716849999999
#   Commanded vehicle depth:  3713.845714 
#   Seafloor depth:           -3764.417399
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 100.167659 meters
#   Minimum depth: 3767.885364 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.552534 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3717.885364 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020556;
longitude = -108.833124;
duration = 400;
initialDepth = 3722.767966;
finalDepth = 3717.885364;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5716849999999
#   Actual altitude:          50.5716849999999
#   Commanded vehicle depth:  3717.885364 
#   Seafloor depth:           -3767.885364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 102.845576 meters
#   Minimum depth: 3772.767966 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.526082 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.767966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020875;
longitude = -108.834045;
duration = 411;
initialDepth = 3725.756639;
finalDepth = 3722.767966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3722.767966 
#   Seafloor depth:           -3772.767966
# 
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 63
#   Segment length 106.848630 meters
#   Minimum depth: 3775.756639 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.837129 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.756639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021202;
longitude = -108.834991;
duration = 427;
initialDepth = 3723.937965;
finalDepth = 3725.756639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3725.756639 
#   Seafloor depth:           -3775.756639
# 
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 63
#   Segment length 106.848326 meters
#   Minimum depth: 3773.937965 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.594307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.937965 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021542;
longitude = -108.835974;
duration = 427;
initialDepth = 3723.963260;
finalDepth = 3723.937965;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6563419999998
#   Actual altitude:          52.6563419999998
#   Commanded vehicle depth:  3723.937965 
#   Seafloor depth:           -3776.594307
# 
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 63
#   Segment length 108.985141 meters
#   Minimum depth: 3773.963260 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.926901 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.963260 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021882;
longitude = -108.836956;
duration = 435;
initialDepth = 3724.542162;
finalDepth = 3723.963260;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6563419999998
#   Actual altitude:          52.6563419999998
#   Commanded vehicle depth:  3723.96326 
#   Seafloor depth:           -3773.963260
# 
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 63
#   Segment length 104.710600 meters
#   Minimum depth: 3774.542162 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.912843 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.542162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022229;
longitude = -108.837959;
duration = 418;
initialDepth = 3725.079029;
finalDepth = 3724.542162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3706809999999
#   Actual altitude:          50.3706809999999
#   Commanded vehicle depth:  3724.542162 
#   Seafloor depth:           -3774.912843
# 
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 63
#   Segment length 103.337457 meters
#   Minimum depth: 3775.079029 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.958930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.079029 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022562;
longitude = -108.838922;
duration = 413;
initialDepth = 3727.475053;
finalDepth = 3725.079029;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.3706809999999
#   Actual altitude:          50.3706809999999
#   Commanded vehicle depth:  3725.079029 
#   Seafloor depth:           -3775.079029
# 
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 62
#   Segment length 148.672409 meters
#   Minimum depth: 3777.475053 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.762664 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.475053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.022891;
longitude = -108.839872;
duration = 594;
# abortOnTimeout    = True; 
initialDepth = 3728.845459;
finalDepth = 3727.475053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.5804889999999
#   Actual altitude:          50.5804889999999
#   Commanded vehicle depth:  3727.475053 
#   Seafloor depth:           -3778.055542
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
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 61
#   Segment length 113.648829 meters
#   Minimum depth: 3778.845459 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.152528 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.845459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021627;
longitude = -108.840363;
duration = 454;
# abortOnTimeout    = True; 
initialDepth = 3728.463921;
finalDepth = 3728.845459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5804889999999
#   Actual altitude:          50.5804889999999
#   Commanded vehicle depth:  3728.845459 
#   Seafloor depth:           -3778.845459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.529599 meters
#   Minimum depth: 3778.463921 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.201561 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.463921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.021273;
longitude = -108.839315;
duration = 426;
initialDepth = 3727.989851;
finalDepth = 3728.463921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7360990000002
#   Actual altitude:          51.7360990000002
#   Commanded vehicle depth:  3728.463921 
#   Seafloor depth:           -3780.200020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 108.368211 meters
#   Minimum depth: 3777.989851 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.777313 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.989851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020941;
longitude = -108.838332;
duration = 433;
initialDepth = 3727.771634;
finalDepth = 3727.989851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7360990000002
#   Actual altitude:          51.7360990000002
#   Commanded vehicle depth:  3727.989851 
#   Seafloor depth:           -3778.312117
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 104.691882 meters
#   Minimum depth: 3777.771634 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.870049 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.771634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020604;
longitude = -108.837332;
duration = 418;
initialDepth = 3726.387132;
finalDepth = 3727.771634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.02061
#   Actual altitude:          51.02061
#   Commanded vehicle depth:  3727.771634 
#   Seafloor depth:           -3778.792244
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.530494 meters
#   Minimum depth: 3776.387132 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.456659 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3726.387132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020278;
longitude = -108.836367;
duration = 426;
initialDepth = 3725.546982;
finalDepth = 3726.387132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0695270000001
#   Actual altitude:          51.0695270000001
#   Commanded vehicle depth:  3726.387132 
#   Seafloor depth:           -3777.456659
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 107.643987 meters
#   Minimum depth: 3775.546982 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.193831 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.546982 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019946;
longitude = -108.835384;
duration = 430;
initialDepth = 3719.793601;
finalDepth = 3725.546982;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3444050000003
#   Actual altitude:          51.3444050000003
#   Commanded vehicle depth:  3725.546982 
#   Seafloor depth:           -3776.891387
# 
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 61
#   Segment length 105.417897 meters
#   Minimum depth: 3769.793601 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.495036 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.793601 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019611;
longitude = -108.834391;
duration = 421;
initialDepth = 3719.419756;
finalDepth = 3719.793601;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7014349999999
#   Actual altitude:          55.7014349999999
#   Commanded vehicle depth:  3719.793601 
#   Seafloor depth:           -3775.495036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.531390 meters
#   Minimum depth: 3769.419756 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.275530 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.419756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019282;
longitude = -108.833419;
duration = 426;
initialDepth = 3718.744258;
finalDepth = 3719.419756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7014349999999
#   Actual altitude:          55.7014349999999
#   Commanded vehicle depth:  3719.419756 
#   Seafloor depth:           -3769.493026
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.919751 meters
#   Minimum depth: 3768.744258 meters looking forward 100.000000 meters along route
#   Maximum depth: 3771.817045 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3718.744258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018950;
longitude = -108.832436;
duration = 427;
initialDepth = 3719.322675;
finalDepth = 3718.744258;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0727869999996
#   Actual altitude:          53.0727869999996
#   Commanded vehicle depth:  3718.744258 
#   Seafloor depth:           -3771.817045
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.143925 meters
#   Minimum depth: 3769.322675 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.489500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.322675 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018617;
longitude = -108.831450;
duration = 424;
initialDepth = 3712.840284;
finalDepth = 3719.322675;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0727869999996
#   Actual altitude:          53.0727869999996
#   Commanded vehicle depth:  3719.322675 
#   Seafloor depth:           -3769.322675
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.532286 meters
#   Minimum depth: 3762.840284 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.165340 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3712.840284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018287;
longitude = -108.830471;
duration = 426;
initialDepth = 3710.588352;
finalDepth = 3712.840284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.3250560000001
#   Actual altitude:          59.3250560000001
#   Commanded vehicle depth:  3712.840284 
#   Seafloor depth:           -3772.165340
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.532585 meters
#   Minimum depth: 3760.588352 meters looking forward 100.000000 meters along route
#   Maximum depth: 3763.249960 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3710.588352 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017955;
longitude = -108.829488;
duration = 426;
initialDepth = 3700.337818;
finalDepth = 3710.588352;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.3250560000001
#   Actual altitude:          59.3250560000001
#   Commanded vehicle depth:  3710.588352 
#   Seafloor depth:           -3762.463566
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.532883 meters
#   Minimum depth: 3750.337818 meters looking forward 100.000000 meters along route
#   Maximum depth: 3760.558818 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3700.337818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017623;
longitude = -108.828506;
duration = 426;
initialDepth = 3700.024801;
finalDepth = 3700.337818;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.221
#   Actual altitude:          60.221
#   Commanded vehicle depth:  3700.337818 
#   Seafloor depth:           -3760.558818
# 
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 61
#   Segment length 106.533182 meters
#   Minimum depth: 3750.024801 meters looking forward 100.000000 meters along route
#   Maximum depth: 3755.278768 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3700.024801 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017291;
longitude = -108.827523;
duration = 426;
initialDepth = 3687.800833;
finalDepth = 3700.024801;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.221
#   Actual altitude:          60.221
#   Commanded vehicle depth:  3700.024801 
#   Seafloor depth:           -3750.103418
# 
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 61
#   Segment length 106.533481 meters
#   Minimum depth: 3737.800833 meters looking forward 100.000000 meters along route
#   Maximum depth: 3754.626397 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3687.800833 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016960;
longitude = -108.826541;
duration = 426;
initialDepth = 3682.401025;
finalDepth = 3687.800833;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.8255640000002
#   Actual altitude:          66.8255640000002
#   Commanded vehicle depth:  3687.800833 
#   Seafloor depth:           -3754.626397
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.533780 meters
#   Minimum depth: 3732.401025 meters looking forward 100.000000 meters along route
#   Maximum depth: 3737.625575 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3682.401025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016628;
longitude = -108.825558;
duration = 426;
initialDepth = 3665.113613;
finalDepth = 3682.401025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.8255640000002
#   Actual altitude:          66.8255640000002
#   Commanded vehicle depth:  3682.401025 
#   Seafloor depth:           -3737.625575
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.534079 meters
#   Minimum depth: 3715.113613 meters looking forward 100.000000 meters along route
#   Maximum depth: 3735.803478 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3665.113613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016296;
longitude = -108.824575;
duration = 426;
initialDepth = 3638.285058;
finalDepth = 3665.113613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.568741
#   Actual altitude:          70.568741
#   Commanded vehicle depth:  3665.113613 
#   Seafloor depth:           -3735.682354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.534377 meters
#   Minimum depth: 3688.285058 meters looking forward 100.000000 meters along route
#   Maximum depth: 3711.765500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3638.285058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015964;
longitude = -108.823593;
duration = 426;
initialDepth = 3626.798328;
finalDepth = 3638.285058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.480442
#   Actual altitude:          73.480442
#   Commanded vehicle depth:  3638.285058 
#   Seafloor depth:           -3711.765500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.534676 meters
#   Minimum depth: 3676.798328 meters looking forward 100.000000 meters along route
#   Maximum depth: 3688.038602 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3626.798328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015632;
longitude = -108.822610;
duration = 426;
initialDepth = 3603.989240;
finalDepth = 3626.798328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.480442
#   Actual altitude:          73.480442
#   Commanded vehicle depth:  3626.798328 
#   Seafloor depth:           -3688.038602
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.534975 meters
#   Minimum depth: 3653.989240 meters looking forward 100.000000 meters along route
#   Maximum depth: 3675.027179 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3603.989240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015301;
longitude = -108.821627;
duration = 426;
initialDepth = 3598.699056;
finalDepth = 3603.989240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.0379390000003
#   Actual altitude:          71.0379390000003
#   Commanded vehicle depth:  3603.98924 
#   Seafloor depth:           -3675.027179
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.535274 meters
#   Minimum depth: 3648.699056 meters looking forward 100.000000 meters along route
#   Maximum depth: 3652.025660 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3598.699056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014969;
longitude = -108.820645;
duration = 426;
initialDepth = 3598.942838;
finalDepth = 3598.699056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.0379390000003
#   Actual altitude:          71.0379390000003
#   Commanded vehicle depth:  3598.699056 
#   Seafloor depth:           -3652.025660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 106.535573 meters
#   Minimum depth: 3648.942838 meters looking forward 100.000000 meters along route
#   Maximum depth: 3654.760762 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3598.942838 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014637;
longitude = -108.819662;
duration = 426;
initialDepth = 3606.180591;
finalDepth = 3598.942838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3266039999999
#   Actual altitude:          53.3266039999999
#   Commanded vehicle depth:  3598.942838 
#   Seafloor depth:           -3649.194596
# 
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 61
#   Segment length 106.535872 meters
#   Minimum depth: 3656.180591 meters looking forward 100.000000 meters along route
#   Maximum depth: 3666.292358 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3606.180591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014305;
longitude = -108.818680;
duration = 426;
initialDepth = 3609.289172;
finalDepth = 3606.180591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2517579999999
#   Actual altitude:          50.2517579999999
#   Commanded vehicle depth:  3606.180591 
#   Seafloor depth:           -3656.180591
# 
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 61
#   Segment length 106.536171 meters
#   Minimum depth: 3659.289172 meters looking forward 100.000000 meters along route
#   Maximum depth: 3666.472689 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3609.289172 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013973;
longitude = -108.817697;
duration = 426;
initialDepth = 3604.250581;
finalDepth = 3609.289172;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1835170000004
#   Actual altitude:          57.1835170000004
#   Commanded vehicle depth:  3609.289172 
#   Seafloor depth:           -3666.472689
# 
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 61
#   Segment length 106.536470 meters
#   Minimum depth: 3654.250581 meters looking forward 100.000000 meters along route
#   Maximum depth: 3658.907712 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3604.250581 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013641;
longitude = -108.816714;
duration = 426;
initialDepth = 3599.306201;
finalDepth = 3604.250581;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1835170000004
#   Actual altitude:          57.1835170000004
#   Commanded vehicle depth:  3604.250581 
#   Seafloor depth:           -3658.907712
# 
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 61
#   Segment length 102.967511 meters
#   Minimum depth: 3649.306201 meters looking forward 100.000000 meters along route
#   Maximum depth: 3654.393166 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3599.306201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013310;
longitude = -108.815732;
duration = 411;
initialDepth = 3592.441402;
finalDepth = 3599.306201;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.086965
#   Actual altitude:          55.086965
#   Commanded vehicle depth:  3599.306201 
#   Seafloor depth:           -3654.393166
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 60
#   Segment length 158.101604 meters
#   Minimum depth: 3642.441402 meters looking forward 100.000000 meters along route
#   Maximum depth: 3648.745117 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3592.441402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012989;
longitude = -108.814782;
duration = 632;
# abortOnTimeout    = True; 
initialDepth = 3594.358737;
finalDepth = 3592.441402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.303715
#   Actual altitude:          56.303715
#   Commanded vehicle depth:  3592.441402 
#   Seafloor depth:           -3648.745117
# 
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 59
#   Segment length 96.642628 meters
#   Minimum depth: 3644.358737 meters looking forward 100.000000 meters along route
#   Maximum depth: 3650.820162 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3594.358737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011635;
longitude = -108.814291;
duration = 386;
# abortOnTimeout    = True; 
initialDepth = 3601.256567;
finalDepth = 3594.358737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.303715
#   Actual altitude:          56.303715
#   Commanded vehicle depth:  3594.358737 
#   Seafloor depth:           -3644.462158
# 
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 59
#   Segment length 102.187927 meters
#   Minimum depth: 3651.256567 meters looking forward 100.000000 meters along route
#   Maximum depth: 3660.495100 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3601.256567 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011936;
longitude = -108.815182;
duration = 408;
initialDepth = 3611.628772;
finalDepth = 3601.256567;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1034209999998
#   Actual altitude:          50.1034209999998
#   Commanded vehicle depth:  3601.256567 
#   Seafloor depth:           -3651.256567
# 
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 59
#   Segment length 106.543750 meters
#   Minimum depth: 3661.628772 meters looking forward 100.000000 meters along route
#   Maximum depth: 3672.561756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3611.628772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012255;
longitude = -108.816125;
duration = 426;
initialDepth = 3623.129755;
finalDepth = 3611.628772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3611.628772 
#   Seafloor depth:           -3661.628772
# 
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 59
#   Segment length 110.010017 meters
#   Minimum depth: 3673.129755 meters looking forward 100.000000 meters along route
#   Maximum depth: 3684.908770 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3623.129755 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012587;
longitude = -108.817107;
duration = 440;
initialDepth = 3625.664724;
finalDepth = 3623.129755;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3623.129755 
#   Seafloor depth:           -3673.129755
# 
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 59
#   Segment length 103.076586 meters
#   Minimum depth: 3675.664724 meters looking forward 100.000000 meters along route
#   Maximum depth: 3684.897713 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3625.664724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012929;
longitude = -108.818122;
duration = 412;
initialDepth = 3619.245052;
finalDepth = 3625.664724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.2329889999996
#   Actual altitude:          59.2329889999996
#   Commanded vehicle depth:  3625.664724 
#   Seafloor depth:           -3684.897713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.542854 meters
#   Minimum depth: 3669.245052 meters looking forward 100.000000 meters along route
#   Maximum depth: 3681.058640 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3619.245052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013250;
longitude = -108.819073;
duration = 426;
initialDepth = 3633.315844;
finalDepth = 3619.245052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.2329889999996
#   Actual altitude:          59.2329889999996
#   Commanded vehicle depth:  3619.245052 
#   Seafloor depth:           -3673.997128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 109.119578 meters
#   Minimum depth: 3683.315844 meters looking forward 100.000000 meters along route
#   Maximum depth: 3721.168154 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3633.315844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013582;
longitude = -108.820055;
duration = 436;
initialDepth = 3662.554346;
finalDepth = 3633.315844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7520759999998
#   Actual altitude:          54.7520759999998
#   Commanded vehicle depth:  3633.315844 
#   Seafloor depth:           -3683.315844
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 103.965231 meters
#   Minimum depth: 3721.397588 meters looking forward 100.000000 meters along route
#   Maximum depth: 3723.758675 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3662.554346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013922;
longitude = -108.821062;
duration = 415;
initialDepth = 3674.269810;
finalDepth = 3662.554346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8432417187705
#   Actual altitude:          58.8432417187705
#   Commanded vehicle depth:  3662.55434628123 
#   Seafloor depth:           -3721.397588
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.541956 meters
#   Minimum depth: 3724.269810 meters looking forward 100.000000 meters along route
#   Maximum depth: 3728.656978 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3674.269810 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014246;
longitude = -108.822021;
duration = 426;
initialDepth = 3679.716949;
finalDepth = 3674.269810;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8432417187705
#   Actual altitude:          58.8432417187705
#   Commanded vehicle depth:  3674.26981 
#   Seafloor depth:           -3724.269810
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 108.229155 meters
#   Minimum depth: 3729.716949 meters looking forward 100.000000 meters along route
#   Maximum depth: 3750.846546 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3679.716949 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014578;
longitude = -108.823003;
duration = 432;
initialDepth = 3701.120134;
finalDepth = 3679.716949;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3679.716949 
#   Seafloor depth:           -3729.716949
# 
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 59
#   Segment length 104.853860 meters
#   Minimum depth: 3751.120134 meters looking forward 100.000000 meters along route
#   Maximum depth: 3756.997659 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3701.120134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014916;
longitude = -108.824001;
duration = 419;
initialDepth = 3705.629053;
finalDepth = 3701.120134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3701.120134 
#   Seafloor depth:           -3751.120134
# 
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 59
#   Segment length 106.541059 meters
#   Minimum depth: 3755.629053 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.680213 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3705.629053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015242;
longitude = -108.824968;
duration = 426;
initialDepth = 3715.919110;
finalDepth = 3705.629053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1614549999999
#   Actual altitude:          50.1614549999999
#   Commanded vehicle depth:  3705.629053 
#   Seafloor depth:           -3755.790508
# 
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 59
#   Segment length 107.338747 meters
#   Minimum depth: 3765.919110 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.642500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3715.919110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015574;
longitude = -108.825951;
duration = 429;
initialDepth = 3710.857434;
finalDepth = 3715.919110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.270493
#   Actual altitude:          53.270493
#   Commanded vehicle depth:  3715.91911 
#   Seafloor depth:           -3769.189603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 105.742475 meters
#   Minimum depth: 3760.857434 meters looking forward 100.000000 meters along route
#   Maximum depth: 3765.783665 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3710.857434 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015909;
longitude = -108.826941;
duration = 422;
initialDepth = 3712.678244;
finalDepth = 3710.857434;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9262309999999
#   Actual altitude:          54.9262309999999
#   Commanded vehicle depth:  3710.857434 
#   Seafloor depth:           -3765.783665
# 
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 59
#   Segment length 106.540163 meters
#   Minimum depth: 3762.678244 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.511496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3712.678244 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016238;
longitude = -108.827916;
duration = 426;
initialDepth = 3717.622337;
finalDepth = 3712.678244;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9262309999999
#   Actual altitude:          54.9262309999999
#   Commanded vehicle depth:  3712.678244 
#   Seafloor depth:           -3762.678244
# 
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 59
#   Segment length 106.539864 meters
#   Minimum depth: 3767.622337 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.531258 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3717.622337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016570;
longitude = -108.828899;
duration = 426;
initialDepth = 3719.535824;
finalDepth = 3717.622337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3717.622337 
#   Seafloor depth:           -3767.622337
# 
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 59
#   Segment length 106.539565 meters
#   Minimum depth: 3769.535824 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.997239 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.535824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016902;
longitude = -108.829882;
duration = 426;
initialDepth = 3725.374038;
finalDepth = 3719.535824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3719.535824 
#   Seafloor depth:           -3769.535824
# 
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 59
#   Segment length 106.539266 meters
#   Minimum depth: 3775.374038 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.544472 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.374038 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017234;
longitude = -108.830864;
duration = 426;
initialDepth = 3726.242672;
finalDepth = 3725.374038;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3725.374038 
#   Seafloor depth:           -3775.374038
# 
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 59
#   Segment length 106.538968 meters
#   Minimum depth: 3776.242672 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.506073 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3726.242672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017566;
longitude = -108.831847;
duration = 426;
initialDepth = 3723.432051;
finalDepth = 3726.242672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4693179999999
#   Actual altitude:          50.4693179999999
#   Commanded vehicle depth:  3726.242672 
#   Seafloor depth:           -3776.711990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.538669 meters
#   Minimum depth: 3773.432051 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.197583 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.432051 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017898;
longitude = -108.832829;
duration = 426;
initialDepth = 3724.457769;
finalDepth = 3723.432051;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7655320000003
#   Actual altitude:          52.7655320000003
#   Commanded vehicle depth:  3723.432051 
#   Seafloor depth:           -3776.197583
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.538370 meters
#   Minimum depth: 3774.457769 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.900767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.457769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018230;
longitude = -108.833812;
duration = 426;
initialDepth = 3725.881938;
finalDepth = 3724.457769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7655320000003
#   Actual altitude:          52.7655320000003
#   Commanded vehicle depth:  3724.457769 
#   Seafloor depth:           -3774.457769
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.538072 meters
#   Minimum depth: 3775.881938 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.636827 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.881938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018562;
longitude = -108.834795;
duration = 426;
initialDepth = 3726.501744;
finalDepth = 3725.881938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7548889999998
#   Actual altitude:          51.7548889999998
#   Commanded vehicle depth:  3725.881938 
#   Seafloor depth:           -3777.636827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.537772 meters
#   Minimum depth: 3776.501744 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.157407 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3726.501744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018894;
longitude = -108.835777;
duration = 426;
initialDepth = 3729.480822;
finalDepth = 3726.501744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7548889999998
#   Actual altitude:          51.7548889999998
#   Commanded vehicle depth:  3726.501744 
#   Seafloor depth:           -3776.501744
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.537475 meters
#   Minimum depth: 3779.480822 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.097427 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.480822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019226;
longitude = -108.836760;
duration = 426;
initialDepth = 3729.460757;
finalDepth = 3729.480822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6166050000002
#   Actual altitude:          50.6166050000002
#   Commanded vehicle depth:  3729.480822 
#   Seafloor depth:           -3780.097427
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 106.537175 meters
#   Minimum depth: 3779.460757 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.342219 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.460757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019558;
longitude = -108.837743;
duration = 426;
initialDepth = 3729.502006;
finalDepth = 3729.460757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6934140000003
#   Actual altitude:          50.6934140000003
#   Commanded vehicle depth:  3729.460757 
#   Seafloor depth:           -3780.154171
# 
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 59
#   Segment length 106.536877 meters
#   Minimum depth: 3779.502006 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.411350 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.502006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019890;
longitude = -108.838725;
duration = 426;
initialDepth = 3730.451132;
finalDepth = 3729.502006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6934140000003
#   Actual altitude:          50.6934140000003
#   Commanded vehicle depth:  3729.502006 
#   Seafloor depth:           -3779.502006
# 
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 59
#   Segment length 103.025991 meters
#   Minimum depth: 3780.451132 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.784094 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.451132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020222;
longitude = -108.839708;
duration = 412;
initialDepth = 3731.850403;
finalDepth = 3730.451132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3730.451132 
#   Seafloor depth:           -3780.451132
# 
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 58
#   Segment length 144.323672 meters
#   Minimum depth: 3781.850403 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.379156 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.850403 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.020543;
longitude = -108.840658;
duration = 577;
# abortOnTimeout    = True; 
initialDepth = 3731.441177;
finalDepth = 3731.850403;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3731.850403 
#   Seafloor depth:           -3781.850403
# 
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 57
#   Segment length 109.718998 meters
#   Minimum depth: 3781.441177 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.435364 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.441177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.019310;
longitude = -108.841116;
duration = 438;
# abortOnTimeout    = True; 
initialDepth = 3730.427346;
finalDepth = 3731.441177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9941869999998
#   Actual altitude:          52.9941869999998
#   Commanded vehicle depth:  3731.441177 
#   Seafloor depth:           -3784.435364
# 
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 57
#   Segment length 106.199177 meters
#   Minimum depth: 3780.427346 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.425410 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.427346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018976;
longitude = -108.840101;
duration = 424;
initialDepth = 3729.728312;
finalDepth = 3730.427346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9941869999998
#   Actual altitude:          52.9941869999998
#   Commanded vehicle depth:  3730.427346 
#   Seafloor depth:           -3781.425410
# 
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 57
#   Segment length 100.853449 meters
#   Minimum depth: 3779.728312 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.403627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.728312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018653;
longitude = -108.839118;
duration = 403;
initialDepth = 3728.282125;
finalDepth = 3729.728312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9980639999999
#   Actual altitude:          50.9980639999999
#   Commanded vehicle depth:  3729.728312 
#   Seafloor depth:           -3780.403627
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 100.925794 meters
#   Minimum depth: 3778.282125 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.632949 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.282125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018347;
longitude = -108.838185;
duration = 403;
initialDepth = 3728.406247;
finalDepth = 3728.282125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3508239999996
#   Actual altitude:          51.3508239999996
#   Commanded vehicle depth:  3728.282125 
#   Seafloor depth:           -3779.632949
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.863831 meters
#   Minimum depth: 3778.406247 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.969066 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.406247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018040;
longitude = -108.837251;
duration = 427;
initialDepth = 3729.137985;
finalDepth = 3728.406247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3508239999996
#   Actual altitude:          51.3508239999996
#   Commanded vehicle depth:  3728.406247 
#   Seafloor depth:           -3778.406247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 105.536513 meters
#   Minimum depth: 3779.137985 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.988939 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.137985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017714;
longitude = -108.836262;
duration = 422;
initialDepth = 3728.486784;
finalDepth = 3729.137985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8328700000002
#   Actual altitude:          51.8328700000002
#   Commanded vehicle depth:  3729.137985 
#   Seafloor depth:           -3780.970855
# 
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 57
#   Segment length 106.200611 meters
#   Minimum depth: 3778.486784 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.073330 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.486784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017393;
longitude = -108.835286;
duration = 424;
initialDepth = 3729.125565;
finalDepth = 3728.486784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8328700000002
#   Actual altitude:          51.8328700000002
#   Commanded vehicle depth:  3728.486784 
#   Seafloor depth:           -3778.927130
# 
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 57
#   Segment length 106.200904 meters
#   Minimum depth: 3779.125565 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.378375 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.125565 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017070;
longitude = -108.834303;
duration = 424;
initialDepth = 3728.450294;
finalDepth = 3729.125565;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4403459999999
#   Actual altitude:          50.4403459999999
#   Commanded vehicle depth:  3729.125565 
#   Seafloor depth:           -3779.125565
# 
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 57
#   Segment length 106.201197 meters
#   Minimum depth: 3778.450294 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.349928 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.450294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016747;
longitude = -108.833321;
duration = 424;
initialDepth = 3728.413620;
finalDepth = 3728.450294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8996339999999
#   Actual altitude:          52.8996339999999
#   Commanded vehicle depth:  3728.450294 
#   Seafloor depth:           -3781.349928
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 110.182101 meters
#   Minimum depth: 3778.413620 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.417516 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.413620 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016424;
longitude = -108.832338;
duration = 440;
initialDepth = 3726.151784;
finalDepth = 3728.413620;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8996339999999
#   Actual altitude:          52.8996339999999
#   Commanded vehicle depth:  3728.41362 
#   Seafloor depth:           -3778.413620
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 102.221171 meters
#   Minimum depth: 3776.151784 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.456440 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3726.151784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016089;
longitude = -108.831319;
duration = 408;
initialDepth = 3723.899289;
finalDepth = 3726.151784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3046559999998
#   Actual altitude:          52.3046559999998
#   Commanded vehicle depth:  3726.151784 
#   Seafloor depth:           -3778.456440
# 
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 57
#   Segment length 106.202075 meters
#   Minimum depth: 3773.899289 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.894724 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.899289 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015778;
longitude = -108.830373;
duration = 424;
initialDepth = 3723.398630;
finalDepth = 3723.899289;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3046559999998
#   Actual altitude:          52.3046559999998
#   Commanded vehicle depth:  3723.899289 
#   Seafloor depth:           -3775.894724
# 
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 57
#   Segment length 106.202369 meters
#   Minimum depth: 3773.398630 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.136936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.398630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015455;
longitude = -108.829390;
duration = 424;
initialDepth = 3725.769979;
finalDepth = 3723.398630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9954350000003
#   Actual altitude:          51.9954350000003
#   Commanded vehicle depth:  3723.39863 
#   Seafloor depth:           -3773.882922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 100.962763 meters
#   Minimum depth: 3775.769979 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.127637 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.769979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015132;
longitude = -108.828408;
duration = 403;
initialDepth = 3724.022979;
finalDepth = 3725.769979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4842919999996
#   Actual altitude:          50.4842919999996
#   Commanded vehicle depth:  3725.769979 
#   Seafloor depth:           -3775.769979
# 
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 57
#   Segment length 100.822543 meters
#   Minimum depth: 3774.022979 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.599749 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.022979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014825;
longitude = -108.827473;
duration = 403;
initialDepth = 3722.039143;
finalDepth = 3724.022979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5767700000001
#   Actual altitude:          52.5767700000001
#   Commanded vehicle depth:  3724.022979 
#   Seafloor depth:           -3776.599749
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.973328 meters
#   Minimum depth: 3772.039143 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.056139 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.039143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014519;
longitude = -108.826541;
duration = 427;
initialDepth = 3719.631336;
finalDepth = 3722.039143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5767700000001
#   Actual altitude:          52.5767700000001
#   Commanded vehicle depth:  3722.039143 
#   Seafloor depth:           -3773.997636
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 105.433401 meters
#   Minimum depth: 3769.631336 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.002361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.631336 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014193;
longitude = -108.825551;
duration = 421;
initialDepth = 3719.082493;
finalDepth = 3719.631336;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3710249999999
#   Actual altitude:          52.3710249999999
#   Commanded vehicle depth:  3719.631336 
#   Seafloor depth:           -3772.002361
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.203803 meters
#   Minimum depth: 3769.082493 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.433821 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.082493 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013873;
longitude = -108.824575;
duration = 424;
initialDepth = 3714.678256;
finalDepth = 3719.082493;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3710249999999
#   Actual altitude:          52.3710249999999
#   Commanded vehicle depth:  3719.082493 
#   Seafloor depth:           -3769.433821
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.204097 meters
#   Minimum depth: 3764.678256 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.234314 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3714.678256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013550;
longitude = -108.823593;
duration = 424;
initialDepth = 3711.182906;
finalDepth = 3714.678256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5560579999997
#   Actual altitude:          54.5560579999997
#   Commanded vehicle depth:  3714.678256 
#   Seafloor depth:           -3769.234314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.204390 meters
#   Minimum depth: 3761.182906 meters looking forward 100.000000 meters along route
#   Maximum depth: 3764.342719 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3711.182906 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013227;
longitude = -108.822610;
duration = 424;
initialDepth = 3687.879604;
finalDepth = 3711.182906;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5560579999997
#   Actual altitude:          54.5560579999997
#   Commanded vehicle depth:  3711.182906 
#   Seafloor depth:           -3764.342719
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 110.291699 meters
#   Minimum depth: 3737.879604 meters looking forward 100.000000 meters along route
#   Maximum depth: 3760.566634 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3687.879604 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012904;
longitude = -108.821627;
duration = 441;
initialDepth = 3647.938785;
finalDepth = 3687.879604;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.6870299999996
#   Actual altitude:          72.6870299999996
#   Commanded vehicle depth:  3687.879604 
#   Seafloor depth:           -3760.566634
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 102.117960 meters
#   Minimum depth: 3697.938785 meters looking forward 100.000000 meters along route
#   Maximum depth: 3735.873677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3647.938785 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012568;
longitude = -108.820607;
duration = 408;
initialDepth = 3648.241459;
finalDepth = 3647.938785;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.9348920000002
#   Actual altitude:          87.9348920000002
#   Commanded vehicle depth:  3647.938785 
#   Seafloor depth:           -3735.873677
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.205269 meters
#   Minimum depth: 3698.241459 meters looking forward 100.000000 meters along route
#   Maximum depth: 3713.547343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3648.241459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012258;
longitude = -108.819662;
duration = 424;
initialDepth = 3646.867569;
finalDepth = 3648.241459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.9348920000002
#   Actual altitude:          87.9348920000002
#   Commanded vehicle depth:  3648.241459 
#   Seafloor depth:           -3698.241459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 106.205562 meters
#   Minimum depth: 3696.867569 meters looking forward 100.000000 meters along route
#   Maximum depth: 3712.744287 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3646.867569 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011935;
longitude = -108.818680;
duration = 424;
initialDepth = 3635.248778;
finalDepth = 3646.867569;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.876718
#   Actual altitude:          65.876718
#   Commanded vehicle depth:  3646.867569 
#   Seafloor depth:           -3712.744287
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 101.072086 meters
#   Minimum depth: 3685.248778 meters looking forward 100.000000 meters along route
#   Maximum depth: 3695.380173 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3635.248778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011612;
longitude = -108.817697;
duration = 404;
initialDepth = 3615.755525;
finalDepth = 3635.248778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.876718
#   Actual altitude:          65.876718
#   Commanded vehicle depth:  3635.248778 
#   Seafloor depth:           -3695.380173
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 100.719290 meters
#   Minimum depth: 3665.755525 meters looking forward 100.000000 meters along route
#   Maximum depth: 3684.393346 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3615.755525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011304;
longitude = -108.816762;
duration = 402;
initialDepth = 3601.899388;
finalDepth = 3615.755525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.6378209999998
#   Actual altitude:          68.6378209999998
#   Commanded vehicle depth:  3615.755525 
#   Seafloor depth:           -3684.393346
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 107.082833 meters
#   Minimum depth: 3651.899388 meters looking forward 100.000000 meters along route
#   Maximum depth: 3663.576389 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3601.899388 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010998;
longitude = -108.815830;
duration = 428;
initialDepth = 3598.704512;
finalDepth = 3601.899388;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.6378209999998
#   Actual altitude:          68.6378209999998
#   Commanded vehicle depth:  3601.899388 
#   Seafloor depth:           -3663.576389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 108.866503 meters
#   Minimum depth: 3648.704512 meters looking forward 100.000000 meters along route
#   Maximum depth: 3651.838643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3598.704512 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010672;
longitude = -108.814839;
duration = 435;
initialDepth = 3599.581055;
finalDepth = 3598.704512;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.677001
#   Actual altitude:          61.677001
#   Commanded vehicle depth:  3598.704512 
#   Seafloor depth:           -3651.838643
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
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 56
#   Segment length 172.679575 meters
#   Minimum depth: 3649.581055 meters looking forward 100.000000 meters along route
#   Maximum depth: 3651.715297 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3599.581055 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010341;
longitude = -108.813832;
duration = 690;
# abortOnTimeout    = True; 
initialDepth = 3600.084900;
finalDepth = 3599.581055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.1341310000003
#   Actual altitude:          53.1341310000003
#   Commanded vehicle depth:  3599.581055 
#   Seafloor depth:           -3649.581055
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 55
#   Segment length 88.637830 meters
#   Minimum depth: 3650.084900 meters looking forward 100.000000 meters along route
#   Maximum depth: 3652.640327 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3600.084900 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008806;
longitude = -108.813537;
duration = 354;
# abortOnTimeout    = True; 
initialDepth = 3603.090243;
finalDepth = 3600.084900;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3600.0849 
#   Seafloor depth:           -3650.084900
# 
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 55
#   Segment length 107.399354 meters
#   Minimum depth: 3653.090243 meters looking forward 100.000000 meters along route
#   Maximum depth: 3661.674343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3603.090243 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009078;
longitude = -108.814356;
duration = 429;
initialDepth = 3611.849061;
finalDepth = 3603.090243;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3603.090243 
#   Seafloor depth:           -3653.090243
# 
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 55
#   Segment length 105.285045 meters
#   Minimum depth: 3661.849061 meters looking forward 100.000000 meters along route
#   Maximum depth: 3686.789141 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3611.849061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009408;
longitude = -108.815348;
duration = 421;
initialDepth = 3639.859686;
finalDepth = 3611.849061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3611.849061 
#   Seafloor depth:           -3661.849061
# 
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 55
#   Segment length 100.493937 meters
#   Minimum depth: 3689.859686 meters looking forward 100.000000 meters along route
#   Maximum depth: 3711.753082 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3639.859686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009731;
longitude = -108.816321;
duration = 401;
initialDepth = 3662.892543;
finalDepth = 3639.859686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3639.859686 
#   Seafloor depth:           -3689.859686
# 
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 55
#   Segment length 101.555147 meters
#   Minimum depth: 3712.892543 meters looking forward 100.000000 meters along route
#   Maximum depth: 3735.129965 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3662.892543 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010040;
longitude = -108.817250;
duration = 406;
initialDepth = 3687.130989;
finalDepth = 3662.892543;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3662.892543 
#   Seafloor depth:           -3712.892543
# 
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 55
#   Segment length 106.341195 meters
#   Minimum depth: 3737.130989 meters looking forward 100.000000 meters along route
#   Maximum depth: 3744.225824 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3687.130989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010352;
longitude = -108.818188;
duration = 425;
initialDepth = 3690.321464;
finalDepth = 3687.130989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3687.130989 
#   Seafloor depth:           -3737.130989
# 
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 55
#   Segment length 106.340899 meters
#   Minimum depth: 3740.321464 meters looking forward 100.000000 meters along route
#   Maximum depth: 3744.449577 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3690.321464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010679;
longitude = -108.819171;
duration = 425;
initialDepth = 3688.332788;
finalDepth = 3690.321464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.9148829999999
#   Actual altitude:          53.9148829999999
#   Commanded vehicle depth:  3690.321464 
#   Seafloor depth:           -3744.236347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 106.340603 meters
#   Minimum depth: 3738.332788 meters looking forward 100.000000 meters along route
#   Maximum depth: 3748.103304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3688.332788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011005;
longitude = -108.820154;
duration = 425;
initialDepth = 3699.676951;
finalDepth = 3688.332788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.9148829999999
#   Actual altitude:          53.9148829999999
#   Commanded vehicle depth:  3688.332788 
#   Seafloor depth:           -3739.423764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 108.563027 meters
#   Minimum depth: 3749.676951 meters looking forward 100.000000 meters along route
#   Maximum depth: 3765.008447 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3699.676951 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011332;
longitude = -108.821136;
duration = 434;
initialDepth = 3715.352407;
finalDepth = 3699.676951;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.090976
#   Actual altitude:          51.090976
#   Commanded vehicle depth:  3699.676951 
#   Seafloor depth:           -3749.676951
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 104.117294 meters
#   Minimum depth: 3765.352407 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.346325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3715.352407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011665;
longitude = -108.822139;
duration = 416;
initialDepth = 3721.292274;
finalDepth = 3715.352407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3715.352407 
#   Seafloor depth:           -3765.352407
# 
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 55
#   Segment length 101.657736 meters
#   Minimum depth: 3771.292274 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.489779 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.292274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011985;
longitude = -108.823101;
duration = 406;
initialDepth = 3721.146365;
finalDepth = 3721.292274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1975050000001
#   Actual altitude:          53.1975050000001
#   Commanded vehicle depth:  3721.292274 
#   Seafloor depth:           -3774.489779
# 
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 55
#   Segment length 100.387474 meters
#   Minimum depth: 3771.146365 meters looking forward 100.000000 meters along route
#   Maximum depth: 3773.930864 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.146365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012297;
longitude = -108.824041;
duration = 401;
initialDepth = 3721.232767;
finalDepth = 3721.146365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1975050000001
#   Actual altitude:          53.1975050000001
#   Commanded vehicle depth:  3721.146365 
#   Seafloor depth:           -3771.205231
# 
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 55
#   Segment length 106.339156 meters
#   Minimum depth: 3771.232767 meters looking forward 100.000000 meters along route
#   Maximum depth: 3773.688751 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.232767 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012606;
longitude = -108.824968;
duration = 425;
initialDepth = 3722.033843;
finalDepth = 3721.232767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4559840000002
#   Actual altitude:          52.4559840000002
#   Commanded vehicle depth:  3721.232767 
#   Seafloor depth:           -3773.688751
# 
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 55
#   Segment length 106.338861 meters
#   Minimum depth: 3772.033843 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.568109 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.033843 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012932;
longitude = -108.825951;
duration = 425;
initialDepth = 3722.006791;
finalDepth = 3722.033843;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4559840000002
#   Actual altitude:          52.4559840000002
#   Commanded vehicle depth:  3722.033843 
#   Seafloor depth:           -3772.033843
# 
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 55
#   Segment length 106.338565 meters
#   Minimum depth: 3772.006791 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.714312 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.006791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013259;
longitude = -108.826934;
duration = 425;
initialDepth = 3721.870747;
finalDepth = 3722.006791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6238950000002
#   Actual altitude:          52.6238950000002
#   Commanded vehicle depth:  3722.006791 
#   Seafloor depth:           -3774.630686
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 109.726657 meters
#   Minimum depth: 3771.870747 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.147863 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.870747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013585;
longitude = -108.827916;
duration = 438;
initialDepth = 3728.301692;
finalDepth = 3721.870747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6238950000002
#   Actual altitude:          52.6238950000002
#   Commanded vehicle depth:  3721.870747 
#   Seafloor depth:           -3771.870747
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 102.949589 meters
#   Minimum depth: 3778.301692 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.801010 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.301692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013922;
longitude = -108.828930;
duration = 411;
initialDepth = 3729.898173;
finalDepth = 3728.301692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3728.301692 
#   Seafloor depth:           -3778.301692
# 
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 55
#   Segment length 106.337679 meters
#   Minimum depth: 3779.898173 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.434307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.898173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014239;
longitude = -108.829882;
duration = 425;
initialDepth = 3731.507681;
finalDepth = 3729.898173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3729.898173 
#   Seafloor depth:           -3779.898173
# 
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 55
#   Segment length 106.337385 meters
#   Minimum depth: 3781.507681 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.417948 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.507681 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014565;
longitude = -108.830864;
duration = 425;
initialDepth = 3733.634013;
finalDepth = 3731.507681;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3731.507681 
#   Seafloor depth:           -3781.507681
# 
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 55
#   Segment length 106.337089 meters
#   Minimum depth: 3783.634013 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.049222 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.634013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014892;
longitude = -108.831847;
duration = 425;
initialDepth = 3733.253716;
finalDepth = 3733.634013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3733.634013 
#   Seafloor depth:           -3783.634013
# 
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 55
#   Segment length 107.161660 meters
#   Minimum depth: 3783.253716 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.650504 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.253716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015218;
longitude = -108.832829;
duration = 428;
initialDepth = 3733.055865;
finalDepth = 3733.253716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.396788
#   Actual altitude:          50.396788
#   Commanded vehicle depth:  3733.253716 
#   Seafloor depth:           -3783.650504
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 105.511633 meters
#   Minimum depth: 3783.055865 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.248411 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.055865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015548;
longitude = -108.833820;
duration = 422;
initialDepth = 3732.877588;
finalDepth = 3733.055865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.396788
#   Actual altitude:          50.396788
#   Commanded vehicle depth:  3733.055865 
#   Seafloor depth:           -3783.248411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 100.256605 meters
#   Minimum depth: 3782.877588 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.409030 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.877588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015872;
longitude = -108.834795;
duration = 401;
initialDepth = 3732.032072;
finalDepth = 3732.877588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1925460000002
#   Actual altitude:          50.1925460000002
#   Commanded vehicle depth:  3732.877588 
#   Seafloor depth:           -3783.021967
# 
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 55
#   Segment length 101.781930 meters
#   Minimum depth: 3782.032072 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.416714 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.032072 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016180;
longitude = -108.835721;
duration = 407;
initialDepth = 3731.206559;
finalDepth = 3732.032072;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.384642
#   Actual altitude:          51.384642
#   Commanded vehicle depth:  3732.032072 
#   Seafloor depth:           -3783.416714
# 
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 55
#   Segment length 106.335643 meters
#   Minimum depth: 3781.206559 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.915269 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.206559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016492;
longitude = -108.836662;
duration = 425;
initialDepth = 3731.090206;
finalDepth = 3731.206559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.384642
#   Actual altitude:          51.384642
#   Commanded vehicle depth:  3731.206559 
#   Seafloor depth:           -3781.915269
# 
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 55
#   Segment length 106.335348 meters
#   Minimum depth: 3781.090206 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.272018 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.090206 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016819;
longitude = -108.837644;
duration = 425;
initialDepth = 3731.330600;
finalDepth = 3731.090206;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7087099999999
#   Actual altitude:          50.7087099999999
#   Commanded vehicle depth:  3731.090206 
#   Seafloor depth:           -3781.200256
# 
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 55
#   Segment length 106.335053 meters
#   Minimum depth: 3781.330600 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.235421 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.330600 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017145;
longitude = -108.838627;
duration = 425;
initialDepth = 3733.582643;
finalDepth = 3731.330600;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1100500000002
#   Actual altitude:          50.1100500000002
#   Commanded vehicle depth:  3731.3306 
#   Seafloor depth:           -3781.330600
# 
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 55
#   Segment length 108.325280 meters
#   Minimum depth: 3783.582643 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.027431 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.582643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017472;
longitude = -108.839609;
duration = 433;
initialDepth = 3733.471853;
finalDepth = 3733.582643;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3733.582643 
#   Seafloor depth:           -3783.582643
# 
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 55
#   Segment length 107.834732 meters
#   Minimum depth: 3783.471853 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.546046 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.471853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.017805;
longitude = -108.840611;
duration = 431;
initialDepth = 3733.408811;
finalDepth = 3733.471853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.0741929999999
#   Actual altitude:          51.0741929999999
#   Commanded vehicle depth:  3733.471853 
#   Seafloor depth:           -3784.546046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 54
#   Segment length 143.680278 meters
#   Minimum depth: 3783.408811 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.082267 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.408811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.018136;
longitude = -108.841607;
duration = 574;
# abortOnTimeout    = True; 
initialDepth = 3733.212323;
finalDepth = 3733.408811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.0741929999999
#   Actual altitude:          51.0741929999999
#   Commanded vehicle depth:  3733.408811 
#   Seafloor depth:           -3783.553284
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 53
#   Segment length 145.577740 meters
#   Minimum depth: 3783.212323 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.141479 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.212323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016932;
longitude = -108.842132;
duration = 582;
# abortOnTimeout    = True; 
initialDepth = 3731.861911;
finalDepth = 3733.212323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9291559999997
#   Actual altitude:          51.9291559999997
#   Commanded vehicle depth:  3733.212323 
#   Seafloor depth:           -3785.141479
# 
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 53
#   Segment length 106.485981 meters
#   Minimum depth: 3781.861911 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.913984 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.861911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016480;
longitude = -108.840789;
duration = 425;
initialDepth = 3732.679719;
finalDepth = 3731.861911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9291559999997
#   Actual altitude:          51.9291559999997
#   Commanded vehicle depth:  3731.861911 
#   Seafloor depth:           -3782.913984
# 
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 53
#   Segment length 106.632381 meters
#   Minimum depth: 3782.679719 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.756878 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.679719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.016149;
longitude = -108.839806;
duration = 426;
initialDepth = 3732.193341;
finalDepth = 3732.679719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0520729999998
#   Actual altitude:          51.0520729999998
#   Commanded vehicle depth:  3732.679719 
#   Seafloor depth:           -3782.679719
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 106.340473 meters
#   Minimum depth: 3782.193341 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.638469 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.193341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015818;
longitude = -108.838822;
duration = 425;
initialDepth = 3734.037349;
finalDepth = 3732.193341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5588279999997
#   Actual altitude:          50.5588279999997
#   Commanded vehicle depth:  3732.193341 
#   Seafloor depth:           -3782.752169
# 
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 53
#   Segment length 106.486873 meters
#   Minimum depth: 3784.037349 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.720986 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.037349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015488;
longitude = -108.837841;
duration = 425;
initialDepth = 3734.850170;
finalDepth = 3734.037349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5588279999997
#   Actual altitude:          50.5588279999997
#   Commanded vehicle depth:  3734.037349 
#   Seafloor depth:           -3784.037349
# 
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 53
#   Segment length 107.096150 meters
#   Minimum depth: 3784.850170 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.171267 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.850170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015158;
longitude = -108.836858;
duration = 428;
initialDepth = 3735.334741;
finalDepth = 3734.850170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3734.85017 
#   Seafloor depth:           -3784.850170
# 
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 53
#   Segment length 105.878490 meters
#   Minimum depth: 3785.334741 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.244345 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.334741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014825;
longitude = -108.835870;
duration = 423;
initialDepth = 3734.384121;
finalDepth = 3735.334741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8433749999999
#   Actual altitude:          52.8433749999999
#   Commanded vehicle depth:  3735.334741 
#   Seafloor depth:           -3788.178116
# 
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 53
#   Segment length 106.487767 meters
#   Minimum depth: 3784.384121 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.410834 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.384121 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014497;
longitude = -108.834893;
duration = 425;
initialDepth = 3734.180817;
finalDepth = 3734.384121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8433749999999
#   Actual altitude:          52.8433749999999
#   Commanded vehicle depth:  3734.384121 
#   Seafloor depth:           -3784.993133
# 
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 53
#   Segment length 107.559926 meters
#   Minimum depth: 3784.180817 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.712974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.180817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014166;
longitude = -108.833910;
duration = 430;
initialDepth = 3733.709199;
finalDepth = 3734.180817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3937260000002
#   Actual altitude:          51.3937260000002
#   Commanded vehicle depth:  3734.180817 
#   Seafloor depth:           -3785.574543
# 
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 53
#   Segment length 105.416500 meters
#   Minimum depth: 3783.709199 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.161571 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.709199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013832;
longitude = -108.832918;
duration = 421;
initialDepth = 3734.159693;
finalDepth = 3733.709199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3937260000002
#   Actual altitude:          51.3937260000002
#   Commanded vehicle depth:  3733.709199 
#   Seafloor depth:           -3784.161571
# 
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 53
#   Segment length 106.488660 meters
#   Minimum depth: 3784.159693 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.704858 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.159693 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013505;
longitude = -108.831945;
duration = 425;
initialDepth = 3731.669174;
finalDepth = 3734.159693;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4523720000002
#   Actual altitude:          50.4523720000002
#   Commanded vehicle depth:  3734.159693 
#   Seafloor depth:           -3784.216499
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 108.023711 meters
#   Minimum depth: 3781.669174 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.885545 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.669174 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013174;
longitude = -108.830962;
duration = 432;
initialDepth = 3731.248502;
finalDepth = 3731.669174;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.216371
#   Actual altitude:          52.216371
#   Commanded vehicle depth:  3731.669174 
#   Seafloor depth:           -3783.885545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 104.954502 meters
#   Minimum depth: 3781.248502 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.735020 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.248502 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012839;
longitude = -108.829966;
duration = 419;
initialDepth = 3729.936021;
finalDepth = 3731.248502;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.216371
#   Actual altitude:          52.216371
#   Commanded vehicle depth:  3731.248502 
#   Seafloor depth:           -3781.729808
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 106.489553 meters
#   Minimum depth: 3779.936021 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.060123 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.936021 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012513;
longitude = -108.828997;
duration = 425;
initialDepth = 3729.153112;
finalDepth = 3729.936021;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1241020000002
#   Actual altitude:          51.1241020000002
#   Commanded vehicle depth:  3729.936021 
#   Seafloor depth:           -3781.060123
# 
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 53
#   Segment length 108.487504 meters
#   Minimum depth: 3779.153112 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.809838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.153112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012183;
longitude = -108.828015;
duration = 433;
initialDepth = 3728.207154;
finalDepth = 3729.153112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1241020000002
#   Actual altitude:          51.1241020000002
#   Commanded vehicle depth:  3729.153112 
#   Seafloor depth:           -3779.809838
# 
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 53
#   Segment length 104.492497 meters
#   Minimum depth: 3778.207154 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.686872 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.207154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011846;
longitude = -108.827013;
duration = 417;
initialDepth = 3727.782873;
finalDepth = 3728.207154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4758259999999
#   Actual altitude:          51.4758259999999
#   Commanded vehicle depth:  3728.207154 
#   Seafloor depth:           -3779.682980
# 
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 53
#   Segment length 106.490447 meters
#   Minimum depth: 3777.782873 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.653438 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.782873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011521;
longitude = -108.826049;
duration = 425;
initialDepth = 3724.952854;
finalDepth = 3727.782873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4758259999999
#   Actual altitude:          51.4758259999999
#   Commanded vehicle depth:  3727.782873 
#   Seafloor depth:           -3778.073600
# 
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 53
#   Segment length 108.951304 meters
#   Minimum depth: 3774.952854 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.641614 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.952854 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011191;
longitude = -108.825067;
duration = 435;
initialDepth = 3723.587496;
finalDepth = 3724.952854;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.68876
#   Actual altitude:          53.68876
#   Commanded vehicle depth:  3724.952854 
#   Seafloor depth:           -3778.641614
# 
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 53
#   Segment length 104.030484 meters
#   Minimum depth: 3773.587496 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.666407 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.587496 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010853;
longitude = -108.824061;
duration = 416;
initialDepth = 3721.351146;
finalDepth = 3723.587496;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.68876
#   Actual altitude:          53.68876
#   Commanded vehicle depth:  3723.587496 
#   Seafloor depth:           -3774.832751
# 
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 53
#   Segment length 106.491341 meters
#   Minimum depth: 3771.351146 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.040729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.351146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010530;
longitude = -108.823101;
duration = 425;
initialDepth = 3701.377545;
finalDepth = 3721.351146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0212419999998
#   Actual altitude:          55.0212419999998
#   Commanded vehicle depth:  3721.351146 
#   Seafloor depth:           -3776.372388
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 109.415113 meters
#   Minimum depth: 3751.377545 meters looking forward 100.000000 meters along route
#   Maximum depth: 3770.227526 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3701.377545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010199;
longitude = -108.822119;
duration = 437;
initialDepth = 3696.291608;
finalDepth = 3701.377545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.8499810000003
#   Actual altitude:          68.8499810000003
#   Commanded vehicle depth:  3701.377545 
#   Seafloor depth:           -3770.227526
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 103.568463 meters
#   Minimum depth: 3746.291608 meters looking forward 100.000000 meters along route
#   Maximum depth: 3751.161809 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3696.291608 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009860;
longitude = -108.821109;
duration = 414;
initialDepth = 3694.176050;
finalDepth = 3696.291608;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.8499810000003
#   Actual altitude:          68.8499810000003
#   Commanded vehicle depth:  3696.291608 
#   Seafloor depth:           -3751.161809
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 100.029171 meters
#   Minimum depth: 3744.176050 meters looking forward 100.000000 meters along route
#   Maximum depth: 3745.615470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3694.176050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009538;
longitude = -108.820154;
duration = 400;
initialDepth = 3695.456271;
finalDepth = 3694.176050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.8702010000002
#   Actual altitude:          54.8702010000002
#   Commanded vehicle depth:  3694.17605 
#   Seafloor depth:           -3745.615470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 102.306331 meters
#   Minimum depth: 3745.456271 meters looking forward 100.000000 meters along route
#   Maximum depth: 3747.469029 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3695.456271 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009228;
longitude = -108.819231;
duration = 409;
initialDepth = 3678.069096;
finalDepth = 3695.456271;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4394200000002
#   Actual altitude:          51.4394200000002
#   Commanded vehicle depth:  3695.456271 
#   Seafloor depth:           -3745.456271
# 
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 53
#   Segment length 101.292392 meters
#   Minimum depth: 3728.069096 meters looking forward 100.000000 meters along route
#   Maximum depth: 3745.435084 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3678.069096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008910;
longitude = -108.818287;
duration = 405;
initialDepth = 3655.374506;
finalDepth = 3678.069096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.365988
#   Actual altitude:          67.365988
#   Commanded vehicle depth:  3678.069096 
#   Seafloor depth:           -3745.435084
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 101.044186 meters
#   Minimum depth: 3705.374506 meters looking forward 100.000000 meters along route
#   Maximum depth: 3726.929985 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3655.374506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008596;
longitude = -108.817352;
duration = 404;
initialDepth = 3619.251089;
finalDepth = 3655.374506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.5554790000001
#   Actual altitude:          71.5554790000001
#   Commanded vehicle depth:  3655.374506 
#   Seafloor depth:           -3726.929985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 106.493368 meters
#   Minimum depth: 3669.251089 meters looking forward 100.000000 meters along route
#   Maximum depth: 3701.932168 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3619.251089 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008282;
longitude = -108.816420;
duration = 425;
initialDepth = 3605.918835;
finalDepth = 3619.251089;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.681079
#   Actual altitude:          82.681079
#   Commanded vehicle depth:  3619.251089 
#   Seafloor depth:           -3701.932168
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 106.493666 meters
#   Minimum depth: 3655.918835 meters looking forward 100.000000 meters along route
#   Maximum depth: 3668.288517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3605.918835 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007951;
longitude = -108.815437;
duration = 425;
initialDepth = 3601.842479;
finalDepth = 3605.918835;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.681079
#   Actual altitude:          82.681079
#   Commanded vehicle depth:  3605.918835 
#   Seafloor depth:           -3668.288517
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 102.989812 meters
#   Minimum depth: 3651.842479 meters looking forward 100.000000 meters along route
#   Maximum depth: 3655.182085 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3601.842479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007621;
longitude = -108.814454;
duration = 411;
initialDepth = 3601.904968;
finalDepth = 3601.842479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.369682
#   Actual altitude:          62.369682
#   Commanded vehicle depth:  3601.842479 
#   Seafloor depth:           -3655.182085
# 
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 52
#   Segment length 160.279358 meters
#   Minimum depth: 3651.904968 meters looking forward 100.000000 meters along route
#   Maximum depth: 3653.355374 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3601.904968 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007301;
longitude = -108.813504;
duration = 641;
# abortOnTimeout    = True; 
initialDepth = 3603.677673;
finalDepth = 3601.904968;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.339606
#   Actual altitude:          53.339606
#   Commanded vehicle depth:  3601.904968 
#   Seafloor depth:           -3651.904968
# 
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 51
#   Segment length 96.688658 meters
#   Minimum depth: 3653.677673 meters looking forward 100.000000 meters along route
#   Maximum depth: 3660.813421 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3603.677673 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005857;
longitude = -108.813406;
duration = 386;
# abortOnTimeout    = True; 
initialDepth = 3611.426462;
finalDepth = 3603.677673;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3603.677673 
#   Seafloor depth:           -3653.677673
# 
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 51
#   Segment length 102.173997 meters
#   Minimum depth: 3661.426462 meters looking forward 100.000000 meters along route
#   Maximum depth: 3676.876554 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3611.426462 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006158;
longitude = -108.814298;
duration = 408;
initialDepth = 3628.708304;
finalDepth = 3611.426462;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3611.426462 
#   Seafloor depth:           -3661.426462
# 
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 51
#   Segment length 106.523919 meters
#   Minimum depth: 3678.708304 meters looking forward 100.000000 meters along route
#   Maximum depth: 3698.782073 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3628.708304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006476;
longitude = -108.815240;
duration = 426;
initialDepth = 3650.426149;
finalDepth = 3628.708304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3628.708304 
#   Seafloor depth:           -3678.708304
# 
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 51
#   Segment length 110.590457 meters
#   Minimum depth: 3700.426149 meters looking forward 100.000000 meters along route
#   Maximum depth: 3732.755992 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3650.426149 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006807;
longitude = -108.816223;
duration = 442;
initialDepth = 3680.058772;
finalDepth = 3650.426149;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3650.426149 
#   Seafloor depth:           -3700.426149
# 
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 51
#   Segment length 102.456485 meters
#   Minimum depth: 3733.544815 meters looking forward 100.000000 meters along route
#   Maximum depth: 3745.149548 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3680.058772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007151;
longitude = -108.817243;
duration = 409;
initialDepth = 3696.065306;
finalDepth = 3680.058772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4860428855973
#   Actual altitude:          53.4860428855973
#   Commanded vehicle depth:  3680.0587721144 
#   Seafloor depth:           -3733.544815
# 
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 51
#   Segment length 106.523023 meters
#   Minimum depth: 3746.065306 meters looking forward 100.000000 meters along route
#   Maximum depth: 3750.985896 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3696.065306 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007470;
longitude = -108.818188;
duration = 426;
initialDepth = 3701.094584;
finalDepth = 3696.065306;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4860428855973
#   Actual altitude:          53.4860428855973
#   Commanded vehicle depth:  3696.065306 
#   Seafloor depth:           -3746.065306
# 
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 51
#   Segment length 110.306181 meters
#   Minimum depth: 3751.094584 meters looking forward 100.000000 meters along route
#   Maximum depth: 3754.935290 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3701.094584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007801;
longitude = -108.819171;
duration = 441;
initialDepth = 3704.875706;
finalDepth = 3701.094584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3701.094584 
#   Seafloor depth:           -3751.094584
# 
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 51
#   Segment length 102.738969 meters
#   Minimum depth: 3754.875706 meters looking forward 100.000000 meters along route
#   Maximum depth: 3755.809249 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3704.875706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008144;
longitude = -108.820188;
duration = 410;
initialDepth = 3706.211728;
finalDepth = 3704.875706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0439820000001
#   Actual altitude:          50.0439820000001
#   Commanded vehicle depth:  3704.875706 
#   Seafloor depth:           -3754.919688
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 106.522128 meters
#   Minimum depth: 3756.211728 meters looking forward 100.000000 meters along route
#   Maximum depth: 3765.537813 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.211728 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008464;
longitude = -108.821136;
duration = 426;
initialDepth = 3716.241459;
finalDepth = 3706.211728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0439820000001
#   Actual altitude:          50.0439820000001
#   Commanded vehicle depth:  3706.211728 
#   Seafloor depth:           -3756.211728
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 110.021911 meters
#   Minimum depth: 3766.241459 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.461234 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3716.241459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008795;
longitude = -108.822119;
duration = 440;
initialDepth = 3724.627174;
finalDepth = 3716.241459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3716.241459 
#   Seafloor depth:           -3766.241459
# 
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 51
#   Segment length 103.021448 meters
#   Minimum depth: 3774.627174 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.723525 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.627174 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009137;
longitude = -108.823134;
duration = 412;
initialDepth = 3724.693020;
finalDepth = 3724.627174;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3724.627174 
#   Seafloor depth:           -3774.627174
# 
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 51
#   Segment length 100.157251 meters
#   Minimum depth: 3774.693020 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.619335 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.693020 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009458;
longitude = -108.824084;
duration = 400;
initialDepth = 3724.088797;
finalDepth = 3724.693020;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9263149999997
#   Actual altitude:          51.9263149999997
#   Commanded vehicle depth:  3724.69302 
#   Seafloor depth:           -3776.619335
# 
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 51
#   Segment length 102.232834 meters
#   Minimum depth: 3774.088797 meters looking forward 100.000000 meters along route
#   Maximum depth: 3774.967720 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.088797 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009769;
longitude = -108.825008;
duration = 408;
initialDepth = 3725.302196;
finalDepth = 3724.088797;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9263149999997
#   Actual altitude:          51.9263149999997
#   Commanded vehicle depth:  3724.088797 
#   Seafloor depth:           -3774.588075
# 
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 51
#   Segment length 106.520665 meters
#   Minimum depth: 3775.302196 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.272310 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.302196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010087;
longitude = -108.825951;
duration = 426;
initialDepth = 3726.937202;
finalDepth = 3725.302196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4992780000002
#   Actual altitude:          50.4992780000002
#   Commanded vehicle depth:  3725.302196 
#   Seafloor depth:           -3775.302196
# 
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 51
#   Segment length 110.525121 meters
#   Minimum depth: 3776.937202 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.679627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3726.937202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010419;
longitude = -108.826934;
duration = 442;
initialDepth = 3730.983807;
finalDepth = 3726.937202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0375309999999
#   Actual altitude:          50.0375309999999
#   Commanded vehicle depth:  3726.937202 
#   Seafloor depth:           -3776.974733
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 102.515313 meters
#   Minimum depth: 3780.983807 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.631595 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.983807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010762;
longitude = -108.827953;
duration = 410;
initialDepth = 3731.376848;
finalDepth = 3730.983807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0375309999999
#   Actual altitude:          50.0375309999999
#   Commanded vehicle depth:  3730.983807 
#   Seafloor depth:           -3780.983807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 106.519770 meters
#   Minimum depth: 3781.376848 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.124655 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.376848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011081;
longitude = -108.828899;
duration = 426;
initialDepth = 3730.608156;
finalDepth = 3731.376848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7478070000002
#   Actual altitude:          51.7478070000002
#   Commanded vehicle depth:  3731.376848 
#   Seafloor depth:           -3783.124655
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 110.240855 meters
#   Minimum depth: 3780.608156 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.641215 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.608156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011413;
longitude = -108.829882;
duration = 440;
initialDepth = 3732.803157;
finalDepth = 3730.608156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7478070000002
#   Actual altitude:          51.7478070000002
#   Commanded vehicle depth:  3730.608156 
#   Seafloor depth:           -3781.168078
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 102.797789 meters
#   Minimum depth: 3782.803157 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.624297 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.803157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011756;
longitude = -108.830898;
duration = 411;
initialDepth = 3733.234916;
finalDepth = 3732.803157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5599220000004
#   Actual altitude:          50.5599220000004
#   Commanded vehicle depth:  3732.803157 
#   Seafloor depth:           -3782.803157
# 
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 51
#   Segment length 106.518875 meters
#   Minimum depth: 3783.234916 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.441128 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.234916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012075;
longitude = -108.831847;
duration = 426;
initialDepth = 3733.601778;
finalDepth = 3733.234916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2062120000001
#   Actual altitude:          51.2062120000001
#   Commanded vehicle depth:  3733.234916 
#   Seafloor depth:           -3784.441128
# 
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 51
#   Segment length 109.956595 meters
#   Minimum depth: 3783.601778 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.219676 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.601778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012407;
longitude = -108.832829;
duration = 439;
initialDepth = 3734.216465;
finalDepth = 3733.601778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2062120000001
#   Actual altitude:          51.2062120000001
#   Commanded vehicle depth:  3733.601778 
#   Seafloor depth:           -3783.601778
# 
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 51
#   Segment length 103.080260 meters
#   Minimum depth: 3784.216465 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.123535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.216465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012749;
longitude = -108.833844;
duration = 412;
initialDepth = 3735.253023;
finalDepth = 3734.216465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3734.216465 
#   Seafloor depth:           -3784.216465
# 
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 51
#   Segment length 100.092237 meters
#   Minimum depth: 3785.253023 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.431055 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.253023 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013069;
longitude = -108.834795;
duration = 400;
initialDepth = 3736.389836;
finalDepth = 3735.253023;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3735.253023 
#   Seafloor depth:           -3785.253023
# 
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 51
#   Segment length 102.291670 meters
#   Minimum depth: 3786.389836 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.009805 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.389836 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013381;
longitude = -108.835718;
duration = 409;
initialDepth = 3735.956365;
finalDepth = 3736.389836;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0176230000002
#   Actual altitude:          50.0176230000002
#   Commanded vehicle depth:  3736.389836 
#   Seafloor depth:           -3786.407459
# 
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 51
#   Segment length 106.517413 meters
#   Minimum depth: 3785.956365 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.433338 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.956365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013699;
longitude = -108.836662;
duration = 426;
initialDepth = 3734.735562;
finalDepth = 3735.956365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2006219999998
#   Actual altitude:          51.2006219999998
#   Commanded vehicle depth:  3735.956365 
#   Seafloor depth:           -3787.156987
# 
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 51
#   Segment length 110.459792 meters
#   Minimum depth: 3784.735562 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.844561 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.735562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014030;
longitude = -108.837644;
duration = 441;
initialDepth = 3732.454514;
finalDepth = 3734.735562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2006219999998
#   Actual altitude:          51.2006219999998
#   Commanded vehicle depth:  3734.735562 
#   Seafloor depth:           -3785.844561
# 
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 51
#   Segment length 102.574141 meters
#   Minimum depth: 3782.454514 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.582130 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.454514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014374;
longitude = -108.838663;
duration = 410;
initialDepth = 3733.042416;
finalDepth = 3732.454514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1276159999998
#   Actual altitude:          52.1276159999998
#   Commanded vehicle depth:  3732.454514 
#   Seafloor depth:           -3784.582130
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 106.516519 meters
#   Minimum depth: 3783.042416 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.160047 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.042416 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014693;
longitude = -108.839609;
duration = 426;
initialDepth = 3735.753149;
finalDepth = 3733.042416;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1276159999998
#   Actual altitude:          52.1276159999998
#   Commanded vehicle depth:  3733.042416 
#   Seafloor depth:           -3783.042416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 110.175536 meters
#   Minimum depth: 3785.753149 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.147536 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.753149 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015024;
longitude = -108.840592;
duration = 440;
initialDepth = 3735.802489;
finalDepth = 3735.753149;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3943869999998
#   Actual altitude:          51.3943869999998
#   Commanded vehicle depth:  3735.753149 
#   Seafloor depth:           -3787.147536
# 
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 51
#   Segment length 106.394005 meters
#   Minimum depth: 3785.802489 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.662259 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.802489 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015367;
longitude = -108.841608;
duration = 425;
initialDepth = 3735.039748;
finalDepth = 3735.802489;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.3943869999998
#   Actual altitude:          51.3943869999998
#   Commanded vehicle depth:  3735.802489 
#   Seafloor depth:           -3785.802489
# 
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;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 50
#   Segment length 139.322982 meters
#   Minimum depth: 3785.039748 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.620361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.039748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015698;
longitude = -108.842590;
duration = 557;
# abortOnTimeout    = True; 
initialDepth = 3735.926636;
finalDepth = 3735.039748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.5806129999996
#   Actual altitude:          51.5806129999996
#   Commanded vehicle depth:  3735.039748 
#   Seafloor depth:           -3786.620361
# 
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 49
#   Segment length 152.505465 meters
#   Minimum depth: 3785.926636 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.391803 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.926636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014524;
longitude = -108.843081;
duration = 610;
# abortOnTimeout    = True; 
initialDepth = 3735.712625;
finalDepth = 3735.926636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5806129999996
#   Actual altitude:          51.5806129999996
#   Commanded vehicle depth:  3735.926636 
#   Seafloor depth:           -3785.926636
# 
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 49
#   Segment length 100.426721 meters
#   Minimum depth: 3785.712625 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.367485 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.712625 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014052;
longitude = -108.841673;
duration = 401;
initialDepth = 3734.967858;
finalDepth = 3735.712625;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5678349999998
#   Actual altitude:          50.5678349999998
#   Commanded vehicle depth:  3735.712625 
#   Seafloor depth:           -3786.280460
# 
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 49
#   Segment length 101.794881 meters
#   Minimum depth: 3784.967858 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.646195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.967858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013742;
longitude = -108.840746;
duration = 407;
initialDepth = 3734.943072;
finalDepth = 3734.967858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6783369999998
#   Actual altitude:          50.6783369999998
#   Commanded vehicle depth:  3734.967858 
#   Seafloor depth:           -3785.646195
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.432853 meters
#   Minimum depth: 3784.943072 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.826367 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.943072 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013427;
longitude = -108.839806;
duration = 425;
initialDepth = 3736.461432;
finalDepth = 3734.943072;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6783369999998
#   Actual altitude:          50.6783369999998
#   Commanded vehicle depth:  3734.943072 
#   Seafloor depth:           -3784.961547
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.433149 meters
#   Minimum depth: 3786.461432 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.940197 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.461432 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013098;
longitude = -108.838823;
duration = 425;
initialDepth = 3736.828096;
finalDepth = 3736.461432;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4121489999998
#   Actual altitude:          50.4121489999998
#   Commanded vehicle depth:  3736.461432 
#   Seafloor depth:           -3786.873581
# 
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 49
#   Segment length 106.433446 meters
#   Minimum depth: 3786.828096 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.520502 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.828096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012769;
longitude = -108.837841;
duration = 425;
initialDepth = 3736.579658;
finalDepth = 3736.828096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4121489999998
#   Actual altitude:          50.4121489999998
#   Commanded vehicle depth:  3736.828096 
#   Seafloor depth:           -3786.828096
# 
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 49
#   Segment length 106.433742 meters
#   Minimum depth: 3786.579658 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.343437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.579658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012440;
longitude = -108.836858;
duration = 425;
initialDepth = 3736.813941;
finalDepth = 3736.579658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7637789999999
#   Actual altitude:          51.7637789999999
#   Commanded vehicle depth:  3736.579658 
#   Seafloor depth:           -3788.343437
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.434040 meters
#   Minimum depth: 3786.813941 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.816541 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.813941 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012111;
longitude = -108.835876;
duration = 425;
initialDepth = 3736.142155;
finalDepth = 3736.813941;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7637789999999
#   Actual altitude:          51.7637789999999
#   Commanded vehicle depth:  3736.813941 
#   Seafloor depth:           -3786.813941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.434336 meters
#   Minimum depth: 3786.142155 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.140002 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.142155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011782;
longitude = -108.834893;
duration = 425;
initialDepth = 3736.429222;
finalDepth = 3736.142155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9978470000001
#   Actual altitude:          50.9978470000001
#   Commanded vehicle depth:  3736.142155 
#   Seafloor depth:           -3787.140002
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.434632 meters
#   Minimum depth: 3786.429222 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.369414 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.429222 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011452;
longitude = -108.833910;
duration = 425;
initialDepth = 3736.243676;
finalDepth = 3736.429222;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9978470000001
#   Actual altitude:          50.9978470000001
#   Commanded vehicle depth:  3736.429222 
#   Seafloor depth:           -3786.790906
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.434930 meters
#   Minimum depth: 3786.243676 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.254033 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.243676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011123;
longitude = -108.832928;
duration = 425;
initialDepth = 3736.385145;
finalDepth = 3736.243676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.361684
#   Actual altitude:          50.361684
#   Commanded vehicle depth:  3736.243676 
#   Seafloor depth:           -3786.427924
# 
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 49
#   Segment length 106.435226 meters
#   Minimum depth: 3786.385145 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.789595 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.385145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010794;
longitude = -108.831945;
duration = 425;
initialDepth = 3735.489237;
finalDepth = 3736.385145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1413889999999
#   Actual altitude:          52.1413889999999
#   Commanded vehicle depth:  3736.385145 
#   Seafloor depth:           -3788.526534
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 108.227497 meters
#   Minimum depth: 3785.489237 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.280392 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.489237 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010465;
longitude = -108.830962;
duration = 432;
initialDepth = 3732.855236;
finalDepth = 3735.489237;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1413889999999
#   Actual altitude:          52.1413889999999
#   Commanded vehicle depth:  3735.489237 
#   Seafloor depth:           -3786.080315
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 104.643846 meters
#   Minimum depth: 3782.855236 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.370193 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.855236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010130;
longitude = -108.829963;
duration = 418;
initialDepth = 3731.620834;
finalDepth = 3732.855236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.450879
#   Actual altitude:          54.450879
#   Commanded vehicle depth:  3732.855236 
#   Seafloor depth:           -3787.306115
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.436117 meters
#   Minimum depth: 3781.620834 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.474349 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.620834 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009807;
longitude = -108.828997;
duration = 425;
initialDepth = 3731.086034;
finalDepth = 3731.620834;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.450879
#   Actual altitude:          54.450879
#   Commanded vehicle depth:  3731.620834 
#   Seafloor depth:           -3782.371688
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 110.106704 meters
#   Minimum depth: 3781.086034 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.464426 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.086034 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009478;
longitude = -108.828015;
duration = 440;
initialDepth = 3727.577618;
finalDepth = 3731.086034;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3783920000001
#   Actual altitude:          51.3783920000001
#   Commanded vehicle depth:  3731.086034 
#   Seafloor depth:           -3782.464426
# 
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 49
#   Segment length 102.766421 meters
#   Minimum depth: 3777.577618 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.975930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.577618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009137;
longitude = -108.826998;
duration = 411;
initialDepth = 3727.371437;
finalDepth = 3727.577618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3983120000003
#   Actual altitude:          53.3983120000003
#   Commanded vehicle depth:  3727.577618 
#   Seafloor depth:           -3780.975930
# 
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 49
#   Segment length 101.626502 meters
#   Minimum depth: 3777.371437 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.364035 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.371437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008819;
longitude = -108.826049;
duration = 406;
initialDepth = 3728.570805;
finalDepth = 3727.371437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3983120000003
#   Actual altitude:          53.3983120000003
#   Commanded vehicle depth:  3727.371437 
#   Seafloor depth:           -3777.429387
# 
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 49
#   Segment length 100.604066 meters
#   Minimum depth: 3778.570805 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.194470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.570805 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008505;
longitude = -108.825111;
duration = 402;
initialDepth = 3725.750702;
finalDepth = 3728.570805;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0579500000003
#   Actual altitude:          50.0579500000003
#   Commanded vehicle depth:  3728.570805 
#   Seafloor depth:           -3778.570805
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.437572 meters
#   Minimum depth: 3775.750702 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.002829 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.750702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008194;
longitude = -108.824182;
duration = 425;
initialDepth = 3715.771233;
finalDepth = 3725.750702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2126480000002
#   Actual altitude:          53.2126480000002
#   Commanded vehicle depth:  3725.750702 
#   Seafloor depth:           -3778.963350
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.437869 meters
#   Minimum depth: 3765.771233 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.552330 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3715.771233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007865;
longitude = -108.823200;
duration = 425;
initialDepth = 3705.773679;
finalDepth = 3715.771233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.781097
#   Actual altitude:          59.781097
#   Commanded vehicle depth:  3715.771233 
#   Seafloor depth:           -3775.552330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.438166 meters
#   Minimum depth: 3755.773679 meters looking forward 100.000000 meters along route
#   Maximum depth: 3764.493157 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3705.773679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007536;
longitude = -108.822217;
duration = 425;
initialDepth = 3704.852430;
finalDepth = 3705.773679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.781097
#   Actual altitude:          59.781097
#   Commanded vehicle depth:  3705.773679 
#   Seafloor depth:           -3764.493157
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.438463 meters
#   Minimum depth: 3754.852430 meters looking forward 100.000000 meters along route
#   Maximum depth: 3756.188382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3704.852430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007207;
longitude = -108.821234;
duration = 425;
initialDepth = 3705.688177;
finalDepth = 3704.852430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.719478
#   Actual altitude:          58.719478
#   Commanded vehicle depth:  3704.85243 
#   Seafloor depth:           -3755.310907
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.438760 meters
#   Minimum depth: 3755.688177 meters looking forward 100.000000 meters along route
#   Maximum depth: 3756.500315 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3705.688177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006878;
longitude = -108.820252;
duration = 425;
initialDepth = 3704.986116;
finalDepth = 3705.688177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5120860000002
#   Actual altitude:          50.5120860000002
#   Commanded vehicle depth:  3705.688177 
#   Seafloor depth:           -3756.200263
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.439058 meters
#   Minimum depth: 3754.986116 meters looking forward 100.000000 meters along route
#   Maximum depth: 3756.064024 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3704.986116 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006549;
longitude = -108.819269;
duration = 425;
initialDepth = 3686.107264;
finalDepth = 3704.986116;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8210319999998
#   Actual altitude:          50.8210319999998
#   Commanded vehicle depth:  3704.986116 
#   Seafloor depth:           -3755.807148
# 
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 49
#   Segment length 107.548395 meters
#   Minimum depth: 3736.107264 meters looking forward 100.000000 meters along route
#   Maximum depth: 3754.769863 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3686.107264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006219;
longitude = -108.818287;
duration = 430;
initialDepth = 3658.699357;
finalDepth = 3686.107264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.6625989999998
#   Actual altitude:          68.6625989999998
#   Commanded vehicle depth:  3686.107264 
#   Seafloor depth:           -3754.769863
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 105.330611 meters
#   Minimum depth: 3708.699357 meters looking forward 100.000000 meters along route
#   Maximum depth: 3735.701683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3658.699357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005887;
longitude = -108.817294;
duration = 421;
initialDepth = 3634.180406;
finalDepth = 3658.699357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.0023259999998
#   Actual altitude:          77.0023259999998
#   Commanded vehicle depth:  3658.699357 
#   Seafloor depth:           -3735.701683
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.439949 meters
#   Minimum depth: 3684.180406 meters looking forward 100.000000 meters along route
#   Maximum depth: 3706.758147 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3634.180406 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005561;
longitude = -108.816321;
duration = 425;
initialDepth = 3616.865202;
finalDepth = 3634.180406;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.0023259999998
#   Actual altitude:          77.0023259999998
#   Commanded vehicle depth:  3634.180406 
#   Seafloor depth:           -3706.758147
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 109.427664 meters
#   Minimum depth: 3666.865202 meters looking forward 100.000000 meters along route
#   Maximum depth: 3682.523661 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3616.865202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005232;
longitude = -108.815339;
duration = 437;
initialDepth = 3615.368513;
finalDepth = 3616.865202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.5777410000001
#   Actual altitude:          72.5777410000001
#   Commanded vehicle depth:  3616.865202 
#   Seafloor depth:           -3682.523661
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 106.963278 meters
#   Minimum depth: 3665.368513 meters looking forward 100.000000 meters along route
#   Maximum depth: 3667.309098 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3615.368513 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004894;
longitude = -108.814328;
duration = 427;
initialDepth = 3616.394653;
finalDepth = 3615.368513;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       65.6584590000002
#   Actual altitude:          65.6584590000002
#   Commanded vehicle depth:  3615.368513 
#   Seafloor depth:           -3666.667506
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 48
#   Segment length 150.440114 meters
#   Minimum depth: 3666.394653 meters looking forward 100.000000 meters along route
#   Maximum depth: 3677.819159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3616.394653 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004563;
longitude = -108.813341;
duration = 601;
# abortOnTimeout    = True; 
initialDepth = 3626.732468;
finalDepth = 3616.394653;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.2989929999999
#   Actual altitude:          51.2989929999999
#   Commanded vehicle depth:  3616.394653 
#   Seafloor depth:           -3666.394653
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.65;
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 47
#   Segment length 120.788867 meters
#   Minimum depth: 3676.732468 meters looking forward 100.000000 meters along route
#   Maximum depth: 3678.817511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3626.732468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003208;
longitude = -108.813439;
duration = 483;
# abortOnTimeout    = True; 
initialDepth = 3629.951418;
finalDepth = 3626.732468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3386379999997
#   Actual altitude:          51.3386379999997
#   Commanded vehicle depth:  3626.732468 
#   Seafloor depth:           -3678.071106
# 
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 47
#   Segment length 100.940679 meters
#   Minimum depth: 3679.951418 meters looking forward 100.000000 meters along route
#   Maximum depth: 3693.325877 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3629.951418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003585;
longitude = -108.814553;
duration = 403;
initialDepth = 3644.060539;
finalDepth = 3629.951418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3386379999997
#   Actual altitude:          51.3386379999997
#   Commanded vehicle depth:  3629.951418 
#   Seafloor depth:           -3679.951418
# 
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 47
#   Segment length 101.573281 meters
#   Minimum depth: 3694.060539 meters looking forward 100.000000 meters along route
#   Maximum depth: 3709.231041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3644.060539 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003901;
longitude = -108.815483;
duration = 406;
initialDepth = 3661.348683;
finalDepth = 3644.060539;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3644.060539 
#   Seafloor depth:           -3694.060539
# 
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 100.764902 meters
#   Minimum depth: 3711.348683 meters looking forward 100.000000 meters along route
#   Maximum depth: 3741.263454 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3661.348683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004218;
longitude = -108.816420;
duration = 403;
initialDepth = 3688.348557;
finalDepth = 3661.348683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3661.348683 
#   Seafloor depth:           -3711.348683
# 
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 101.747975 meters
#   Minimum depth: 3743.049249 meters looking forward 100.000000 meters along route
#   Maximum depth: 3763.390225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3688.348557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004533;
longitude = -108.817349;
duration = 406;
initialDepth = 3709.590786;
finalDepth = 3688.348557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7006923660038
#   Actual altitude:          54.7006923660038
#   Commanded vehicle depth:  3688.348556634 
#   Seafloor depth:           -3743.049249
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 106.585291 meters
#   Minimum depth: 3759.590786 meters looking forward 100.000000 meters along route
#   Maximum depth: 3764.056264 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3709.590786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004850;
longitude = -108.818287;
duration = 426;
initialDepth = 3706.867888;
finalDepth = 3709.590786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7006923660038
#   Actual altitude:          54.7006923660038
#   Commanded vehicle depth:  3709.590786 
#   Seafloor depth:           -3763.807253
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 109.624555 meters
#   Minimum depth: 3756.867888 meters looking forward 100.000000 meters along route
#   Maximum depth: 3759.280378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.867888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005183;
longitude = -108.819269;
duration = 438;
initialDepth = 3705.805457;
finalDepth = 3706.867888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2164669999997
#   Actual altitude:          54.2164669999997
#   Commanded vehicle depth:  3706.867888 
#   Seafloor depth:           -3759.280378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 103.545127 meters
#   Minimum depth: 3755.805457 meters looking forward 100.000000 meters along route
#   Maximum depth: 3758.267694 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3705.805457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005526;
longitude = -108.820280;
duration = 414;
initialDepth = 3704.003759;
finalDepth = 3705.805457;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4124899999997
#   Actual altitude:          52.4124899999997
#   Commanded vehicle depth:  3705.805457 
#   Seafloor depth:           -3757.727540
# 
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 47
#   Segment length 106.584392 meters
#   Minimum depth: 3754.003759 meters looking forward 100.000000 meters along route
#   Maximum depth: 3757.386359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3704.003759 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005849;
longitude = -108.821234;
duration = 426;
initialDepth = 3708.266606;
finalDepth = 3704.003759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9220829999999
#   Actual altitude:          51.9220829999999
#   Commanded vehicle depth:  3704.003759 
#   Seafloor depth:           -3755.104339
# 
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 47
#   Segment length 107.825636 meters
#   Minimum depth: 3758.266606 meters looking forward 100.000000 meters along route
#   Maximum depth: 3771.384317 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3708.266606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006182;
longitude = -108.822217;
duration = 431;
initialDepth = 3721.475760;
finalDepth = 3708.266606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1005799999998
#   Actual altitude:          51.1005799999998
#   Commanded vehicle depth:  3708.266606 
#   Seafloor depth:           -3758.266606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 105.342249 meters
#   Minimum depth: 3771.475760 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.425356 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.475760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006519;
longitude = -108.823211;
duration = 421;
initialDepth = 3727.982607;
finalDepth = 3721.475760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3721.47576 
#   Seafloor depth:           -3771.475760
# 
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 106.583494 meters
#   Minimum depth: 3777.982607 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.638587 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.982607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006848;
longitude = -108.824182;
duration = 426;
initialDepth = 3725.816308;
finalDepth = 3727.982607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3727.982607 
#   Seafloor depth:           -3777.982607
# 
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 106.583193 meters
#   Minimum depth: 3775.816308 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.675104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.816308 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007181;
longitude = -108.825165;
duration = 426;
initialDepth = 3727.495210;
finalDepth = 3725.816308;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.858796
#   Actual altitude:          52.858796
#   Commanded vehicle depth:  3725.816308 
#   Seafloor depth:           -3778.675104
# 
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 47
#   Segment length 106.582895 meters
#   Minimum depth: 3777.495210 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.876076 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.495210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007514;
longitude = -108.826148;
duration = 426;
initialDepth = 3728.948305;
finalDepth = 3727.495210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.858796
#   Actual altitude:          52.858796
#   Commanded vehicle depth:  3727.49521 
#   Seafloor depth:           -3777.495210
# 
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 47
#   Segment length 106.582595 meters
#   Minimum depth: 3778.948305 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.412474 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.948305 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007847;
longitude = -108.827130;
duration = 426;
initialDepth = 3734.273183;
finalDepth = 3728.948305;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3813920000002
#   Actual altitude:          50.3813920000002
#   Commanded vehicle depth:  3728.948305 
#   Seafloor depth:           -3779.329697
# 
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 47
#   Segment length 106.582295 meters
#   Minimum depth: 3784.273183 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.967119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.273183 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008180;
longitude = -108.828113;
duration = 426;
initialDepth = 3736.894606;
finalDepth = 3734.273183;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3813920000002
#   Actual altitude:          50.3813920000002
#   Commanded vehicle depth:  3734.273183 
#   Seafloor depth:           -3784.273183
# 
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 47
#   Segment length 106.581997 meters
#   Minimum depth: 3786.894606 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.955015 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.894606 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008513;
longitude = -108.829095;
duration = 426;
initialDepth = 3735.787040;
finalDepth = 3736.894606;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3736.894606 
#   Seafloor depth:           -3786.894606
# 
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 106.581697 meters
#   Minimum depth: 3785.787040 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.274899 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.787040 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008845;
longitude = -108.830078;
duration = 426;
initialDepth = 3735.503353;
finalDepth = 3735.787040;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4878589999998
#   Actual altitude:          52.4878589999998
#   Commanded vehicle depth:  3735.78704 
#   Seafloor depth:           -3788.274899
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 102.429059 meters
#   Minimum depth: 3785.503353 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.014939 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.503353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009178;
longitude = -108.831061;
duration = 409;
initialDepth = 3736.244169;
finalDepth = 3735.503353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4878589999998
#   Actual altitude:          52.4878589999998
#   Commanded vehicle depth:  3735.503353 
#   Seafloor depth:           -3785.924610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 100.075340 meters
#   Minimum depth: 3786.244169 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.425246 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.244169 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009498;
longitude = -108.832005;
duration = 400;
initialDepth = 3736.654697;
finalDepth = 3736.244169;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.421257
#   Actual altitude:          50.421257
#   Commanded vehicle depth:  3736.244169 
#   Seafloor depth:           -3786.244169
# 
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 47
#   Segment length 102.253285 meters
#   Minimum depth: 3786.654697 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.081046 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.654697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009811;
longitude = -108.832928;
duration = 409;
initialDepth = 3737.130102;
finalDepth = 3736.654697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3097520000001
#   Actual altitude:          50.3097520000001
#   Commanded vehicle depth:  3736.654697 
#   Seafloor depth:           -3786.964449
# 
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 47
#   Segment length 100.250034 meters
#   Minimum depth: 3787.130102 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.099495 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.130102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010130;
longitude = -108.833870;
duration = 401;
initialDepth = 3739.355448;
finalDepth = 3737.130102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3097520000001
#   Actual altitude:          50.3097520000001
#   Commanded vehicle depth:  3737.130102 
#   Seafloor depth:           -3787.130102
# 
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 47
#   Segment length 102.077512 meters
#   Minimum depth: 3789.355448 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.094440 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.355448 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010444;
longitude = -108.834795;
duration = 408;
initialDepth = 3738.492885;
finalDepth = 3739.355448;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0216220000002
#   Actual altitude:          50.0216220000002
#   Commanded vehicle depth:  3739.355448 
#   Seafloor depth:           -3789.377070
# 
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 47
#   Segment length 100.424727 meters
#   Minimum depth: 3788.492885 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.211942 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.492885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010762;
longitude = -108.835736;
duration = 401;
initialDepth = 3739.189839;
finalDepth = 3738.492885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7190569999998
#   Actual altitude:          50.7190569999998
#   Commanded vehicle depth:  3738.492885 
#   Seafloor depth:           -3789.211942
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 101.901740 meters
#   Minimum depth: 3789.189839 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.077624 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.189839 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011076;
longitude = -108.836662;
duration = 407;
initialDepth = 3738.432371;
finalDepth = 3739.189839;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7190569999998
#   Actual altitude:          50.7190569999998
#   Commanded vehicle depth:  3739.189839 
#   Seafloor depth:           -3789.189839
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 100.599419 meters
#   Minimum depth: 3788.432371 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.523942 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.432371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011394;
longitude = -108.837601;
duration = 402;
initialDepth = 3736.722579;
finalDepth = 3738.432371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0915709999999
#   Actual altitude:          51.0915709999999
#   Commanded vehicle depth:  3738.432371 
#   Seafloor depth:           -3789.523942
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 101.725971 meters
#   Minimum depth: 3786.722579 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.277723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.722579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011709;
longitude = -108.838529;
duration = 406;
initialDepth = 3736.728646;
finalDepth = 3736.722579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5551439999999
#   Actual altitude:          51.5551439999999
#   Commanded vehicle depth:  3736.722579 
#   Seafloor depth:           -3788.277723
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 100.774108 meters
#   Minimum depth: 3786.728646 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.024964 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.728646 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012026;
longitude = -108.839466;
duration = 403;
initialDepth = 3737.026398;
finalDepth = 3736.728646;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5551439999999
#   Actual altitude:          51.5551439999999
#   Commanded vehicle depth:  3736.728646 
#   Seafloor depth:           -3786.728646
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 106.578555 meters
#   Minimum depth: 3787.026398 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.946566 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.026398 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012341;
longitude = -108.840396;
duration = 426;
initialDepth = 3736.208048;
finalDepth = 3737.026398;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3737.026398 
#   Seafloor depth:           -3787.026398
# 
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 110.585057 meters
#   Minimum depth: 3786.208048 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.993519 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.208048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012674;
longitude = -108.841378;
duration = 442;
initialDepth = 3736.322383;
finalDepth = 3736.208048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7675939999999
#   Actual altitude:          51.7675939999999
#   Commanded vehicle depth:  3736.208048 
#   Seafloor depth:           -3787.975642
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 106.099768 meters
#   Minimum depth: 3786.322383 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.145512 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.322383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013020;
longitude = -108.842398;
duration = 424;
initialDepth = 3737.377685;
finalDepth = 3736.322383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.7675939999999
#   Actual altitude:          51.7675939999999
#   Commanded vehicle depth:  3736.322383 
#   Seafloor depth:           -3786.322383
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
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 139.359739 meters
#   Minimum depth: 3787.377685 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.080750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.377685 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013351;
longitude = -108.843376;
duration = 557;
# abortOnTimeout    = True; 
initialDepth = 3737.340820;
finalDepth = 3737.377685;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.7030650000002
#   Actual altitude:          51.7030650000002
#   Commanded vehicle depth:  3737.377685 
#   Seafloor depth:           -3789.080750
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.85;
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 166.090296 meters
#   Minimum depth: 3787.340820 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.913104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.340820 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012177;
longitude = -108.843868;
duration = 664;
# abortOnTimeout    = True; 
initialDepth = 3738.177667;
finalDepth = 3737.340820;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7030650000002
#   Actual altitude:          51.7030650000002
#   Commanded vehicle depth:  3737.34082 
#   Seafloor depth:           -3787.340820
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 103.463456 meters
#   Minimum depth: 3788.177667 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.865190 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.177667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011665;
longitude = -108.842334;
duration = 413;
initialDepth = 3738.092487;
finalDepth = 3738.177667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6875230000001
#   Actual altitude:          51.6875230000001
#   Commanded vehicle depth:  3738.177667 
#   Seafloor depth:           -3789.865190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 101.663703 meters
#   Minimum depth: 3788.092487 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.928592 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.092487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011346;
longitude = -108.841378;
duration = 406;
initialDepth = 3739.001129;
finalDepth = 3738.092487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6875230000001
#   Actual altitude:          51.6875230000001
#   Commanded vehicle depth:  3738.092487 
#   Seafloor depth:           -3788.098578
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 100.464985 meters
#   Minimum depth: 3789.001129 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.371743 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.001129 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011033;
longitude = -108.840439;
duration = 401;
initialDepth = 3739.275752;
finalDepth = 3739.001129;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0060910000002
#   Actual altitude:          50.0060910000002
#   Commanded vehicle depth:  3739.001129 
#   Seafloor depth:           -3789.001129
# 
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 106.383949 meters
#   Minimum depth: 3789.275752 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.240677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.275752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010724;
longitude = -108.839511;
duration = 425;
initialDepth = 3740.249840;
finalDepth = 3739.275752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3739.275752 
#   Seafloor depth:           -3789.275752
# 
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 106.384245 meters
#   Minimum depth: 3790.249840 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.450333 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.249840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010396;
longitude = -108.838529;
duration = 425;
initialDepth = 3739.576050;
finalDepth = 3740.249840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3740.24984 
#   Seafloor depth:           -3790.249840
# 
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 106.384541 meters
#   Minimum depth: 3789.576050 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.338194 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.576050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010068;
longitude = -108.837546;
duration = 425;
initialDepth = 3739.640752;
finalDepth = 3739.576050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7621439999998
#   Actual altitude:          50.7621439999998
#   Commanded vehicle depth:  3739.57605 
#   Seafloor depth:           -3790.338194
# 
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 45
#   Segment length 107.857167 meters
#   Minimum depth: 3789.640752 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.636628 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.640752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009740;
longitude = -108.836563;
duration = 431;
initialDepth = 3738.917695;
finalDepth = 3739.640752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7621439999998
#   Actual altitude:          50.7621439999998
#   Commanded vehicle depth:  3739.640752 
#   Seafloor depth:           -3789.640752
# 
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 45
#   Segment length 104.912801 meters
#   Minimum depth: 3788.917695 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.624078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.917695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009408;
longitude = -108.835567;
duration = 419;
initialDepth = 3738.720510;
finalDepth = 3738.917695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7063829999997
#   Actual altitude:          52.7063829999997
#   Commanded vehicle depth:  3738.917695 
#   Seafloor depth:           -3791.624078
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 100.218286 meters
#   Minimum depth: 3788.720510 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.362681 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.720510 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009085;
longitude = -108.834598;
duration = 400;
initialDepth = 3740.447756;
finalDepth = 3738.720510;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7063829999997
#   Actual altitude:          52.7063829999997
#   Commanded vehicle depth:  3738.72051 
#   Seafloor depth:           -3788.785479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 101.914281 meters
#   Minimum depth: 3790.447756 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.068705 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.447756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008776;
longitude = -108.833672;
duration = 407;
initialDepth = 3737.172999;
finalDepth = 3740.447756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.064969
#   Actual altitude:          50.064969
#   Commanded vehicle depth:  3740.447756 
#   Seafloor depth:           -3790.447756
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.385990 meters
#   Minimum depth: 3787.172999 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.645113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.172999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008462;
longitude = -108.832731;
duration = 425;
initialDepth = 3734.652389;
finalDepth = 3737.172999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4721140000001
#   Actual altitude:          53.4721140000001
#   Commanded vehicle depth:  3737.172999 
#   Seafloor depth:           -3790.645113
# 
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 45
#   Segment length 106.386286 meters
#   Minimum depth: 3784.652389 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.122057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.652389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008134;
longitude = -108.831748;
duration = 425;
initialDepth = 3732.551616;
finalDepth = 3734.652389;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4721140000001
#   Actual altitude:          53.4721140000001
#   Commanded vehicle depth:  3734.652389 
#   Seafloor depth:           -3787.122057
# 
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 45
#   Segment length 106.386582 meters
#   Minimum depth: 3782.551616 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.223667 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.551616 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007807;
longitude = -108.830766;
duration = 425;
initialDepth = 3730.979707;
finalDepth = 3732.551616;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4696680000002
#   Actual altitude:          52.4696680000002
#   Commanded vehicle depth:  3732.551616 
#   Seafloor depth:           -3784.223667
# 
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 45
#   Segment length 106.411849 meters
#   Minimum depth: 3780.979707 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.496837 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.979707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007479;
longitude = -108.829783;
duration = 425;
initialDepth = 3725.305092;
finalDepth = 3730.979707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.672051
#   Actual altitude:          51.672051
#   Commanded vehicle depth:  3730.979707 
#   Seafloor depth:           -3782.496837
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.362203 meters
#   Minimum depth: 3775.305092 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.978925 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.305092 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007151;
longitude = -108.828800;
duration = 425;
initialDepth = 3725.219030;
finalDepth = 3725.305092;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.6738329999998
#   Actual altitude:          55.6738329999998
#   Commanded vehicle depth:  3725.305092 
#   Seafloor depth:           -3780.978925
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.387470 meters
#   Minimum depth: 3775.219030 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.512527 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.219030 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006823;
longitude = -108.827818;
duration = 425;
initialDepth = 3731.076511;
finalDepth = 3725.219030;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.6738329999998
#   Actual altitude:          55.6738329999998
#   Commanded vehicle depth:  3725.21903 
#   Seafloor depth:           -3775.219030
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 109.605846 meters
#   Minimum depth: 3781.076511 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.104090 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.076511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006495;
longitude = -108.826835;
duration = 438;
initialDepth = 3729.691329;
finalDepth = 3731.076511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.037879
#   Actual altitude:          54.037879
#   Commanded vehicle depth:  3731.076511 
#   Seafloor depth:           -3785.114390
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 103.169982 meters
#   Minimum depth: 3779.691329 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.869646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.691329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006158;
longitude = -108.825823;
duration = 412;
initialDepth = 3727.598561;
finalDepth = 3729.691329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.037879
#   Actual altitude:          54.037879
#   Commanded vehicle depth:  3729.691329 
#   Seafloor depth:           -3780.869646
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.388358 meters
#   Minimum depth: 3777.598561 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.776236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.598561 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005840;
longitude = -108.824870;
duration = 425;
initialDepth = 3716.553747;
finalDepth = 3727.598561;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1776750000004
#   Actual altitude:          52.1776750000004
#   Commanded vehicle depth:  3727.598561 
#   Seafloor depth:           -3779.776236
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.388654 meters
#   Minimum depth: 3766.553747 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.231357 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3716.553747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005512;
longitude = -108.823887;
duration = 425;
initialDepth = 3706.104225;
finalDepth = 3716.553747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.6776100000002
#   Actual altitude:          60.6776100000002
#   Commanded vehicle depth:  3716.553747 
#   Seafloor depth:           -3777.231357
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.388951 meters
#   Minimum depth: 3756.104225 meters looking forward 100.000000 meters along route
#   Maximum depth: 3765.631598 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.104225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005184;
longitude = -108.822905;
duration = 425;
initialDepth = 3703.311909;
finalDepth = 3706.104225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.6776100000002
#   Actual altitude:          60.6776100000002
#   Commanded vehicle depth:  3706.104225 
#   Seafloor depth:           -3765.631598
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.389246 meters
#   Minimum depth: 3753.311909 meters looking forward 100.000000 meters along route
#   Maximum depth: 3756.229011 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3703.311909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004857;
longitude = -108.821922;
duration = 425;
initialDepth = 3706.112262;
finalDepth = 3703.311909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.5273729999999
#   Actual altitude:          59.5273729999999
#   Commanded vehicle depth:  3703.311909 
#   Seafloor depth:           -3755.214736
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.389543 meters
#   Minimum depth: 3756.112262 meters looking forward 100.000000 meters along route
#   Maximum depth: 3758.394891 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.112262 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004529;
longitude = -108.820940;
duration = 425;
initialDepth = 3706.052730;
finalDepth = 3706.112262;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9028269999999
#   Actual altitude:          51.9028269999999
#   Commanded vehicle depth:  3706.112262 
#   Seafloor depth:           -3756.313864
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.389839 meters
#   Minimum depth: 3756.052730 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.161236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.052730 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004201;
longitude = -108.819957;
duration = 425;
initialDepth = 3706.498095;
finalDepth = 3706.052730;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2016020000001
#   Actual altitude:          50.2016020000001
#   Commanded vehicle depth:  3706.05273 
#   Seafloor depth:           -3756.052730
# 
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 45
#   Segment length 108.354826 meters
#   Minimum depth: 3756.498095 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.773784 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.498095 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003873;
longitude = -108.818974;
duration = 433;
initialDepth = 3679.747688;
finalDepth = 3706.498095;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.0956959999999
#   Actual altitude:          61.0956959999999
#   Commanded vehicle depth:  3706.498095 
#   Seafloor depth:           -3767.593791
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 104.425740 meters
#   Minimum depth: 3729.747688 meters looking forward 100.000000 meters along route
#   Maximum depth: 3755.955873 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3679.747688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003539;
longitude = -108.817974;
duration = 417;
initialDepth = 3662.686961;
finalDepth = 3679.747688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.208185
#   Actual altitude:          76.208185
#   Commanded vehicle depth:  3679.747688 
#   Seafloor depth:           -3755.955873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.390728 meters
#   Minimum depth: 3712.686961 meters looking forward 100.000000 meters along route
#   Maximum depth: 3727.533776 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3662.686961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003218;
longitude = -108.817009;
duration = 425;
initialDepth = 3649.375878;
finalDepth = 3662.686961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.208185
#   Actual altitude:          76.208185
#   Commanded vehicle depth:  3662.686961 
#   Seafloor depth:           -3727.533776
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 106.391023 meters
#   Minimum depth: 3699.375878 meters looking forward 100.000000 meters along route
#   Maximum depth: 3712.112907 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3649.375878 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002890;
longitude = -108.816026;
duration = 425;
initialDepth = 3637.542101;
finalDepth = 3649.375878;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8468150000003
#   Actual altitude:          64.8468150000003
#   Commanded vehicle depth:  3649.375878 
#   Seafloor depth:           -3712.112907
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 102.844939 meters
#   Minimum depth: 3687.542101 meters looking forward 100.000000 meters along route
#   Maximum depth: 3697.452292 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3637.542101 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002562;
longitude = -108.815044;
duration = 411;
initialDepth = 3637.327474;
finalDepth = 3637.542101;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.7370290000003
#   Actual altitude:          62.7370290000003
#   Commanded vehicle depth:  3637.542101 
#   Seafloor depth:           -3697.452292
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.37;
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 137.464880 meters
#   Minimum depth: 3687.327474 meters looking forward 100.000000 meters along route
#   Maximum depth: 3700.839722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3637.327474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002245;
longitude = -108.814094;
duration = 549;
# abortOnTimeout    = True; 
initialDepth = 3650.839722;
finalDepth = 3637.327474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.9101909999999
#   Actual altitude:          59.9101909999999
#   Commanded vehicle depth:  3637.327474 
#   Seafloor depth:           -3687.327474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.96;
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 43
#   Segment length 88.634645 meters
#   Minimum depth: 3700.839722 meters looking forward 100.000000 meters along route
#   Maximum depth: 3709.370989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3650.839722 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001041;
longitude = -108.814422;
duration = 354;
# abortOnTimeout    = True; 
initialDepth = 3660.760640;
finalDepth = 3650.839722;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7921139999999
#   Actual altitude:          50.7921139999999
#   Commanded vehicle depth:  3650.839722 
#   Seafloor depth:           -3701.631836
# 
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 43
#   Segment length 107.168745 meters
#   Minimum depth: 3710.760640 meters looking forward 100.000000 meters along route
#   Maximum depth: 3723.747864 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3660.760640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001314;
longitude = -108.815240;
duration = 428;
initialDepth = 3673.794461;
finalDepth = 3660.760640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7921139999999
#   Actual altitude:          50.7921139999999
#   Commanded vehicle depth:  3660.76064 
#   Seafloor depth:           -3710.760640
# 
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 43
#   Segment length 105.553565 meters
#   Minimum depth: 3723.794461 meters looking forward 100.000000 meters along route
#   Maximum depth: 3731.097722 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3673.794461 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001643;
longitude = -108.816230;
duration = 422;
initialDepth = 3682.709341;
finalDepth = 3673.794461;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3673.794461 
#   Seafloor depth:           -3723.794461
# 
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 100.038915 meters
#   Minimum depth: 3732.709341 meters looking forward 100.000000 meters along route
#   Maximum depth: 3756.838763 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3682.709341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001968;
longitude = -108.817206;
duration = 400;
initialDepth = 3707.923137;
finalDepth = 3682.709341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3682.709341 
#   Seafloor depth:           -3732.709341
# 
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 102.046184 meters
#   Minimum depth: 3757.923137 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.167006 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3707.923137 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002275;
longitude = -108.818130;
duration = 408;
initialDepth = 3719.326206;
finalDepth = 3707.923137;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3707.923137 
#   Seafloor depth:           -3757.923137
# 
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 106.360150 meters
#   Minimum depth: 3769.326206 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.581301 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.326206 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002589;
longitude = -108.819073;
duration = 425;
initialDepth = 3713.365201;
finalDepth = 3719.326206;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0135169999999
#   Actual altitude:          50.0135169999999
#   Commanded vehicle depth:  3719.326206 
#   Seafloor depth:           -3769.339723
# 
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 106.359854 meters
#   Minimum depth: 3763.365201 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.582824 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3713.365201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002916;
longitude = -108.820055;
duration = 425;
initialDepth = 3706.453732;
finalDepth = 3713.365201;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.217623
#   Actual altitude:          56.217623
#   Commanded vehicle depth:  3713.365201 
#   Seafloor depth:           -3769.582824
# 
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 43
#   Segment length 106.359558 meters
#   Minimum depth: 3756.453732 meters looking forward 100.000000 meters along route
#   Maximum depth: 3762.199039 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.453732 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003243;
longitude = -108.821038;
duration = 425;
initialDepth = 3707.857854;
finalDepth = 3706.453732;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.217623
#   Actual altitude:          56.217623
#   Commanded vehicle depth:  3706.453732 
#   Seafloor depth:           -3762.199039
# 
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 43
#   Segment length 107.535558 meters
#   Minimum depth: 3757.857854 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.174048 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3707.857854 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003570;
longitude = -108.822021;
duration = 430;
initialDepth = 3725.300624;
finalDepth = 3707.857854;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7453070000001
#   Actual altitude:          55.7453070000001
#   Commanded vehicle depth:  3707.857854 
#   Seafloor depth:           -3757.857854
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 105.182672 meters
#   Minimum depth: 3775.300624 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.041883 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.300624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003901;
longitude = -108.823014;
duration = 420;
initialDepth = 3725.140343;
finalDepth = 3725.300624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3725.300624 
#   Seafloor depth:           -3775.300624
# 
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 100.405863 meters
#   Minimum depth: 3775.140343 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.453552 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.140343 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004224;
longitude = -108.823986;
duration = 401;
initialDepth = 3725.101467;
finalDepth = 3725.140343;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3132089999999
#   Actual altitude:          53.3132089999999
#   Commanded vehicle depth:  3725.140343 
#   Seafloor depth:           -3778.453552
# 
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 43
#   Segment length 101.675361 meters
#   Minimum depth: 3775.101467 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.458214 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.101467 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004533;
longitude = -108.824913;
duration = 406;
initialDepth = 3729.088126;
finalDepth = 3725.101467;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.3132089999999
#   Actual altitude:          53.3132089999999
#   Commanded vehicle depth:  3725.101467 
#   Seafloor depth:           -3775.101467
# 
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 43
#   Segment length 106.358110 meters
#   Minimum depth: 3779.088126 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.040536 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.088126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004845;
longitude = -108.825853;
duration = 425;
initialDepth = 3729.996313;
finalDepth = 3729.088126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3729.088126 
#   Seafloor depth:           -3779.088126
# 
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 106.357814 meters
#   Minimum depth: 3779.996313 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.043989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.996313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005172;
longitude = -108.826835;
duration = 425;
initialDepth = 3728.497464;
finalDepth = 3729.996313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0476759999997
#   Actual altitude:          54.0476759999997
#   Commanded vehicle depth:  3729.996313 
#   Seafloor depth:           -3784.043989
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.357520 meters
#   Minimum depth: 3778.497464 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.370958 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.497464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005499;
longitude = -108.827818;
duration = 425;
initialDepth = 3731.010689;
finalDepth = 3728.497464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0476759999997
#   Actual altitude:          54.0476759999997
#   Commanded vehicle depth:  3728.497464 
#   Seafloor depth:           -3779.582293
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 107.902358 meters
#   Minimum depth: 3781.010689 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.449574 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.010689 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005826;
longitude = -108.828801;
duration = 431;
initialDepth = 3736.917787;
finalDepth = 3731.010689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0848289999999
#   Actual altitude:          51.0848289999999
#   Commanded vehicle depth:  3731.010689 
#   Seafloor depth:           -3781.010689
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 104.811794 meters
#   Minimum depth: 3786.917787 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.006156 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.917787 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006158;
longitude = -108.829798;
duration = 419;
initialDepth = 3735.508906;
finalDepth = 3736.917787;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.582253
#   Actual altitude:          51.582253
#   Commanded vehicle depth:  3736.917787 
#   Seafloor depth:           -3788.500040
# 
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 43
#   Segment length 100.772798 meters
#   Minimum depth: 3785.508906 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.503982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.508906 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006480;
longitude = -108.830766;
duration = 403;
initialDepth = 3735.581066;
finalDepth = 3735.508906;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.582253
#   Actual altitude:          51.582253
#   Commanded vehicle depth:  3735.508906 
#   Seafloor depth:           -3786.503982
# 
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 43
#   Segment length 101.304552 meters
#   Minimum depth: 3785.581066 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.772530 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.581066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006790;
longitude = -108.831697;
duration = 405;
initialDepth = 3738.046184;
finalDepth = 3735.581066;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9950760000002
#   Actual altitude:          50.9950760000002
#   Commanded vehicle depth:  3735.581066 
#   Seafloor depth:           -3785.581066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.356072 meters
#   Minimum depth: 3788.046184 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.382058 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.046184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007101;
longitude = -108.832633;
duration = 425;
initialDepth = 3739.396246;
finalDepth = 3738.046184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3738.046184 
#   Seafloor depth:           -3788.046184
# 
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 106.355776 meters
#   Minimum depth: 3789.396246 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.172168 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.396246 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007428;
longitude = -108.833615;
duration = 425;
initialDepth = 3741.265176;
finalDepth = 3739.396246;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3739.396246 
#   Seafloor depth:           -3789.396246
# 
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 106.355481 meters
#   Minimum depth: 3791.265176 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.109663 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.265176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007755;
longitude = -108.834598;
duration = 425;
initialDepth = 3739.685674;
finalDepth = 3741.265176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2485030000003
#   Actual altitude:          50.2485030000003
#   Commanded vehicle depth:  3741.265176 
#   Seafloor depth:           -3791.513679
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 108.269147 meters
#   Minimum depth: 3789.685674 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.132943 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.685674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008082;
longitude = -108.835581;
duration = 433;
initialDepth = 3739.781587;
finalDepth = 3739.685674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4472690000002
#   Actual altitude:          51.4472690000002
#   Commanded vehicle depth:  3739.685674 
#   Seafloor depth:           -3791.132943
# 
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 43
#   Segment length 104.440930 meters
#   Minimum depth: 3789.781587 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.728897 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.781587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008415;
longitude = -108.836581;
duration = 417;
initialDepth = 3740.855057;
finalDepth = 3739.781587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4472690000002
#   Actual altitude:          51.4472690000002
#   Commanded vehicle depth:  3739.781587 
#   Seafloor depth:           -3789.781587
# 
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 43
#   Segment length 101.139721 meters
#   Minimum depth: 3790.855057 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.444711 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.855057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008736;
longitude = -108.837546;
duration = 404;
initialDepth = 3739.941611;
finalDepth = 3740.855057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3740.855057 
#   Seafloor depth:           -3790.855057
# 
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 100.933758 meters
#   Minimum depth: 3789.941611 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.005545 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.941611 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009047;
longitude = -108.838480;
duration = 403;
initialDepth = 3739.280165;
finalDepth = 3739.941611;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0639339999998
#   Actual altitude:          51.0639339999998
#   Commanded vehicle depth:  3739.941611 
#   Seafloor depth:           -3791.005545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.354034 meters
#   Minimum depth: 3789.280165 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.985729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.280165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009357;
longitude = -108.839413;
duration = 425;
initialDepth = 3738.385511;
finalDepth = 3739.280165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0639339999998
#   Actual altitude:          51.0639339999998
#   Commanded vehicle depth:  3739.280165 
#   Seafloor depth:           -3789.972539
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.353740 meters
#   Minimum depth: 3788.385511 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.249673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.385511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009684;
longitude = -108.840396;
duration = 425;
initialDepth = 3738.555984;
finalDepth = 3738.385511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8641619999999
#   Actual altitude:          50.8641619999999
#   Commanded vehicle depth:  3738.385511 
#   Seafloor depth:           -3789.249673
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 106.353444 meters
#   Minimum depth: 3788.555984 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.666079 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.555984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010011;
longitude = -108.841378;
duration = 425;
initialDepth = 3738.167385;
finalDepth = 3738.555984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8641619999999
#   Actual altitude:          50.8641619999999
#   Commanded vehicle depth:  3738.555984 
#   Seafloor depth:           -3788.555984
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 108.635921 meters
#   Minimum depth: 3788.167385 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.236528 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.167385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010338;
longitude = -108.842361;
duration = 434;
initialDepth = 3737.042879;
finalDepth = 3738.167385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6772189999997
#   Actual altitude:          51.6772189999997
#   Commanded vehicle depth:  3738.167385 
#   Seafloor depth:           -3789.844604
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 107.631830 meters
#   Minimum depth: 3787.042879 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.068976 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.042879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010672;
longitude = -108.843365;
duration = 430;
initialDepth = 3738.031006;
finalDepth = 3737.042879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.6772189999997
#   Actual altitude:          51.6772189999997
#   Commanded vehicle depth:  3737.042879 
#   Seafloor depth:           -3788.068976
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.84;
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 134.334763 meters
#   Minimum depth: 3788.031006 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.338678 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.031006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011003;
longitude = -108.844359;
duration = 537;
# abortOnTimeout    = True; 
initialDepth = 3738.579167;
finalDepth = 3738.031006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.0260969999999
#   Actual altitude:          51.0260969999999
#   Commanded vehicle depth:  3738.031006 
#   Seafloor depth:           -3788.031006
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.51;
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 128.587976 meters
#   Minimum depth: 3788.579167 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.921855 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.579167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009890;
longitude = -108.844883;
duration = 514;
# abortOnTimeout    = True; 
initialDepth = 3740.056745;
finalDepth = 3738.579167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.763179
#   Actual altitude:          50.763179
#   Commanded vehicle depth:  3738.579167 
#   Seafloor depth:           -3789.342346
# 
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 41
#   Segment length 101.574207 meters
#   Minimum depth: 3790.056745 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.864989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.056745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009498;
longitude = -108.843693;
duration = 406;
initialDepth = 3740.316122;
finalDepth = 3740.056745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.763179
#   Actual altitude:          50.763179
#   Commanded vehicle depth:  3740.056745 
#   Seafloor depth:           -3790.056745
# 
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 41
#   Segment length 106.224811 meters
#   Minimum depth: 3790.316122 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.254496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.316122 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009189;
longitude = -108.842754;
duration = 424;
initialDepth = 3740.067005;
finalDepth = 3740.316122;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0742479999999
#   Actual altitude:          50.0742479999999
#   Commanded vehicle depth:  3740.316122 
#   Seafloor depth:           -3790.390370
# 
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 41
#   Segment length 106.225104 meters
#   Minimum depth: 3790.067005 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.123214 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.067005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008866;
longitude = -108.841771;
duration = 424;
initialDepth = 3739.851436;
finalDepth = 3740.067005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0562090000003
#   Actual altitude:          51.0562090000003
#   Commanded vehicle depth:  3740.067005 
#   Seafloor depth:           -3791.123214
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.010963 meters
#   Minimum depth: 3789.851436 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.366130 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.851436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008542;
longitude = -108.840789;
duration = 404;
initialDepth = 3739.417418;
finalDepth = 3739.851436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0562090000003
#   Actual altitude:          51.0562090000003
#   Commanded vehicle depth:  3739.851436 
#   Seafloor depth:           -3790.233095
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.817541 meters
#   Minimum depth: 3789.417418 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.820549 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.417418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008234;
longitude = -108.839854;
duration = 403;
initialDepth = 3740.046255;
finalDepth = 3739.417418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3842009999998
#   Actual altitude:          50.3842009999998
#   Commanded vehicle depth:  3739.417418 
#   Seafloor depth:           -3789.801619
# 
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 41
#   Segment length 106.701678 meters
#   Minimum depth: 3790.046255 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.314270 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.046255 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007927;
longitude = -108.838922;
duration = 426;
initialDepth = 3740.880590;
finalDepth = 3740.046255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3842009999998
#   Actual altitude:          50.3842009999998
#   Commanded vehicle depth:  3740.046255 
#   Seafloor depth:           -3790.046255
# 
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 41
#   Segment length 105.750521 meters
#   Minimum depth: 3790.880590 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.401278 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.880590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007602;
longitude = -108.837935;
duration = 423;
initialDepth = 3739.872195;
finalDepth = 3740.880590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1320139999998
#   Actual altitude:          50.1320139999998
#   Commanded vehicle depth:  3740.88059 
#   Seafloor depth:           -3791.012604
# 
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 41
#   Segment length 101.769816 meters
#   Minimum depth: 3789.872195 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.268532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.872195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007280;
longitude = -108.836956;
duration = 407;
initialDepth = 3740.340603;
finalDepth = 3739.872195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3963370000001
#   Actual altitude:          51.3963370000001
#   Commanded vehicle depth:  3739.872195 
#   Seafloor depth:           -3791.268532
# 
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 41
#   Segment length 100.060858 meters
#   Minimum depth: 3790.340603 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.414017 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.340603 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006970;
longitude = -108.836015;
duration = 400;
initialDepth = 3740.656626;
finalDepth = 3740.340603;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3963370000001
#   Actual altitude:          51.3963370000001
#   Commanded vehicle depth:  3740.340603 
#   Seafloor depth:           -3790.340603
# 
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 41
#   Segment length 107.460598 meters
#   Minimum depth: 3790.656626 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.047894 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.656626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006666;
longitude = -108.835089;
duration = 429;
initialDepth = 3740.026717;
finalDepth = 3740.656626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3821819999998
#   Actual altitude:          50.3821819999998
#   Commanded vehicle depth:  3740.656626 
#   Seafloor depth:           -3791.038808
# 
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 41
#   Segment length 104.993886 meters
#   Minimum depth: 3790.026717 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.187947 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.026717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006338;
longitude = -108.834095;
duration = 419;
initialDepth = 3738.004519;
finalDepth = 3740.026717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0286169999999
#   Actual altitude:          52.0286169999999
#   Commanded vehicle depth:  3740.026717 
#   Seafloor depth:           -3792.055334
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 106.227682 meters
#   Minimum depth: 3788.004519 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.610104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.004519 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006019;
longitude = -108.833124;
duration = 424;
initialDepth = 3738.094677;
finalDepth = 3738.004519;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0286169999999
#   Actual altitude:          52.0286169999999
#   Commanded vehicle depth:  3738.004519 
#   Seafloor depth:           -3789.610104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 106.227975 meters
#   Minimum depth: 3788.094677 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.674549 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.094677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005695;
longitude = -108.832142;
duration = 424;
initialDepth = 3734.260820;
finalDepth = 3738.094677;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6055849999998
#   Actual altitude:          51.6055849999998
#   Commanded vehicle depth:  3738.094677 
#   Seafloor depth:           -3788.094677
# 
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 41
#   Segment length 106.228268 meters
#   Minimum depth: 3784.260820 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.318287 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.260820 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005372;
longitude = -108.831159;
duration = 424;
initialDepth = 3732.318622;
finalDepth = 3734.260820;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0574670000001
#   Actual altitude:          54.0574670000001
#   Commanded vehicle depth:  3734.26082 
#   Seafloor depth:           -3788.318287
# 
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 41
#   Segment length 109.953923 meters
#   Minimum depth: 3782.318622 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.909020 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.318622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005048;
longitude = -108.830176;
duration = 439;
initialDepth = 3732.690392;
finalDepth = 3732.318622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0574670000001
#   Actual altitude:          54.0574670000001
#   Commanded vehicle depth:  3732.318622 
#   Seafloor depth:           -3783.909020
# 
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 41
#   Segment length 102.503492 meters
#   Minimum depth: 3782.690392 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.835087 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.690392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004713;
longitude = -108.829159;
duration = 410;
initialDepth = 3733.840043;
finalDepth = 3732.690392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5903980000003
#   Actual altitude:          51.5903980000003
#   Commanded vehicle depth:  3732.690392 
#   Seafloor depth:           -3782.690392
# 
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 41
#   Segment length 106.229147 meters
#   Minimum depth: 3783.840043 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.900391 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.840043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004401;
longitude = -108.828211;
duration = 424;
initialDepth = 3727.749592;
finalDepth = 3733.840043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3733.840043 
#   Seafloor depth:           -3783.840043
# 
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 106.229441 meters
#   Minimum depth: 3777.749592 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.750016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.749592 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004077;
longitude = -108.827228;
duration = 424;
initialDepth = 3725.341154;
finalDepth = 3727.749592;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.0004239999998
#   Actual altitude:          57.0004239999998
#   Commanded vehicle depth:  3727.749592 
#   Seafloor depth:           -3784.750016
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.089938 meters
#   Minimum depth: 3775.341154 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.345213 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.341154 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003754;
longitude = -108.826246;
duration = 400;
initialDepth = 3727.188275;
finalDepth = 3725.341154;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.0004239999998
#   Actual altitude:          57.0004239999998
#   Commanded vehicle depth:  3725.341154 
#   Seafloor depth:           -3776.817073
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.746806 meters
#   Minimum depth: 3777.188275 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.932892 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.188275 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003449;
longitude = -108.825320;
duration = 406;
initialDepth = 3725.118881;
finalDepth = 3727.188275;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.475919
#   Actual altitude:          51.475919
#   Commanded vehicle depth:  3727.188275 
#   Seafloor depth:           -3777.508420
# 
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 41
#   Segment length 106.230291 meters
#   Minimum depth: 3775.118881 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.064407 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.118881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003139;
longitude = -108.824379;
duration = 424;
initialDepth = 3717.916408;
finalDepth = 3725.118881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.945526
#   Actual altitude:          51.945526
#   Commanded vehicle depth:  3725.118881 
#   Seafloor depth:           -3777.064407
# 
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 41
#   Segment length 106.230584 meters
#   Minimum depth: 3767.916408 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.099280 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3717.916408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002816;
longitude = -108.823396;
duration = 424;
initialDepth = 3716.631400;
finalDepth = 3717.916408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1828719999999
#   Actual altitude:          57.1828719999999
#   Commanded vehicle depth:  3717.916408 
#   Seafloor depth:           -3775.099280
# 
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 41
#   Segment length 100.848814 meters
#   Minimum depth: 3766.631400 meters looking forward 100.000000 meters along route
#   Maximum depth: 3767.394032 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3716.631400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002492;
longitude = -108.822414;
duration = 403;
initialDepth = 3717.098585;
finalDepth = 3716.631400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1828719999999
#   Actual altitude:          57.1828719999999
#   Commanded vehicle depth:  3716.6314 
#   Seafloor depth:           -3767.394032
# 
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 41
#   Segment length 100.990104 meters
#   Minimum depth: 3767.098585 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.522756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3717.098585 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002185;
longitude = -108.821481;
duration = 403;
initialDepth = 3718.742139;
finalDepth = 3717.098585;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7626319999999
#   Actual altitude:          50.7626319999999
#   Commanded vehicle depth:  3717.098585 
#   Seafloor depth:           -3767.098585
# 
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 41
#   Segment length 106.539823 meters
#   Minimum depth: 3768.742139 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.739731 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3718.742139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001878;
longitude = -108.820547;
duration = 426;
initialDepth = 3713.208610;
finalDepth = 3718.742139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7161630000001
#   Actual altitude:          50.7161630000001
#   Commanded vehicle depth:  3718.742139 
#   Seafloor depth:           -3769.458302
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 105.923340 meters
#   Minimum depth: 3763.208610 meters looking forward 100.000000 meters along route
#   Maximum depth: 3770.118130 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3713.208610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001553;
longitude = -108.819561;
duration = 423;
initialDepth = 3696.817797;
finalDepth = 3713.208610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.53874
#   Actual altitude:          56.53874
#   Commanded vehicle depth:  3713.20861 
#   Seafloor depth:           -3769.747350
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.607706 meters
#   Minimum depth: 3746.817797 meters looking forward 100.000000 meters along route
#   Maximum depth: 3761.183314 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3696.817797 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001231;
longitude = -108.818581;
duration = 406;
initialDepth = 3687.555988;
finalDepth = 3696.817797;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.3655169999997
#   Actual altitude:          64.3655169999997
#   Commanded vehicle depth:  3696.817797 
#   Seafloor depth:           -3761.183314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.233386 meters
#   Minimum depth: 3737.555988 meters looking forward 100.000000 meters along route
#   Maximum depth: 3746.242139 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3687.555988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000921;
longitude = -108.817641;
duration = 400;
initialDepth = 3677.673504;
finalDepth = 3687.555988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.3655169999997
#   Actual altitude:          64.3655169999997
#   Commanded vehicle depth:  3687.555988 
#   Seafloor depth:           -3746.242139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 107.298780 meters
#   Minimum depth: 3727.673504 meters looking forward 100.000000 meters along route
#   Maximum depth: 3736.713065 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3677.673504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000616;
longitude = -108.816714;
duration = 429;
initialDepth = 3665.520121;
finalDepth = 3677.673504;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.039561
#   Actual altitude:          59.039561
#   Commanded vehicle depth:  3677.673504 
#   Seafloor depth:           -3736.713065
# 
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 41
#   Segment length 108.707772 meters
#   Minimum depth: 3715.520121 meters looking forward 100.000000 meters along route
#   Maximum depth: 3727.546067 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3665.520121 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000289;
longitude = -108.815722;
duration = 434;
initialDepth = 3665.136393;
finalDepth = 3665.520121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.0259460000002
#   Actual altitude:          62.0259460000002
#   Commanded vehicle depth:  3665.520121 
#   Seafloor depth:           -3727.546067
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.01;
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 136.041895 meters
#   Minimum depth: 3715.136393 meters looking forward 100.000000 meters along route
#   Maximum depth: 3741.577355 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3665.136393 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999958;
longitude = -108.814716;
duration = 544;
# abortOnTimeout    = True; 
initialDepth = 3689.744047;
finalDepth = 3665.136393;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.0259460000002
#   Actual altitude:          62.0259460000002
#   Commanded vehicle depth:  3665.136393 
#   Seafloor depth:           -3715.136393
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.01;
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 78.775272 meters
#   Minimum depth: 3739.744047 meters looking forward 100.000000 meters along route
#   Maximum depth: 3745.879306 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3689.744047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998784;
longitude = -108.815109;
duration = 315;
# abortOnTimeout    = True; 
initialDepth = 3692.948473;
finalDepth = 3689.744047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9082969999999
#   Actual altitude:          52.9082969999999
#   Commanded vehicle depth:  3689.744047 
#   Seafloor depth:           -3742.652344
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 105.448923 meters
#   Minimum depth: 3742.948473 meters looking forward 100.000000 meters along route
#   Maximum depth: 3744.993379 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3692.948473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999025;
longitude = -108.815838;
duration = 421;
initialDepth = 3695.561400;
finalDepth = 3692.948473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9082969999999
#   Actual altitude:          52.9082969999999
#   Commanded vehicle depth:  3692.948473 
#   Seafloor depth:           -3744.048831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.282787 meters
#   Minimum depth: 3745.561400 meters looking forward 100.000000 meters along route
#   Maximum depth: 3748.819831 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3695.561400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999347;
longitude = -108.816813;
duration = 425;
initialDepth = 3698.998200;
finalDepth = 3695.561400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1003580000001
#   Actual altitude:          51.1003580000001
#   Commanded vehicle depth:  3695.5614 
#   Seafloor depth:           -3745.561400
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.282493 meters
#   Minimum depth: 3748.998200 meters looking forward 100.000000 meters along route
#   Maximum depth: 3759.264457 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3698.998200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999672;
longitude = -108.817795;
duration = 425;
initialDepth = 3711.109587;
finalDepth = 3698.998200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3698.9982 
#   Seafloor depth:           -3748.998200
# 
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 39
#   Segment length 106.282199 meters
#   Minimum depth: 3761.109587 meters looking forward 100.000000 meters along route
#   Maximum depth: 3770.848249 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3711.109587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999997;
longitude = -108.818778;
duration = 425;
initialDepth = 3719.601327;
finalDepth = 3711.109587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3711.109587 
#   Seafloor depth:           -3761.109587
# 
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 39
#   Segment length 107.432457 meters
#   Minimum depth: 3769.601327 meters looking forward 100.000000 meters along route
#   Maximum depth: 3771.007327 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.601327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000322;
longitude = -108.819760;
duration = 429;
initialDepth = 3720.707035;
finalDepth = 3719.601327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.170345
#   Actual altitude:          51.170345
#   Commanded vehicle depth:  3719.601327 
#   Seafloor depth:           -3770.771672
# 
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 39
#   Segment length 105.131058 meters
#   Minimum depth: 3770.707035 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.863176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3720.707035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000650;
longitude = -108.820754;
duration = 420;
initialDepth = 3715.394680;
finalDepth = 3720.707035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.170345
#   Actual altitude:          51.170345
#   Commanded vehicle depth:  3720.707035 
#   Seafloor depth:           -3771.047783
# 
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 39
#   Segment length 101.650398 meters
#   Minimum depth: 3765.394680 meters looking forward 100.000000 meters along route
#   Maximum depth: 3770.121555 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3715.394680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000972;
longitude = -108.821726;
duration = 406;
initialDepth = 3715.366619;
finalDepth = 3715.394680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7268750000003
#   Actual altitude:          54.7268750000003
#   Commanded vehicle depth:  3715.39468 
#   Seafloor depth:           -3770.121555
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 100.283851 meters
#   Minimum depth: 3765.366619 meters looking forward 100.000000 meters along route
#   Maximum depth: 3769.927341 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3715.366619 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001282;
longitude = -108.822666;
duration = 401;
initialDepth = 3721.374944;
finalDepth = 3715.366619;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7268750000003
#   Actual altitude:          54.7268750000003
#   Commanded vehicle depth:  3715.366619 
#   Seafloor depth:           -3765.371741
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.496492 meters
#   Minimum depth: 3771.374944 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.436002 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.374944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001589;
longitude = -108.823593;
duration = 425;
initialDepth = 3725.544949;
finalDepth = 3721.374944;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.005122
#   Actual altitude:          50.005122
#   Commanded vehicle depth:  3721.374944 
#   Seafloor depth:           -3771.374944
# 
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 39
#   Segment length 106.064728 meters
#   Minimum depth: 3775.544949 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.191514 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.544949 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001914;
longitude = -108.824577;
duration = 424;
initialDepth = 3725.812257;
finalDepth = 3725.544949;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.646565
#   Actual altitude:          52.646565
#   Commanded vehicle depth:  3725.544949 
#   Seafloor depth:           -3778.191514
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.280169 meters
#   Minimum depth: 3775.812257 meters looking forward 100.000000 meters along route
#   Maximum depth: 3777.318487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3725.812257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002238;
longitude = -108.825558;
duration = 425;
initialDepth = 3727.424692;
finalDepth = 3725.812257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.646565
#   Actual altitude:          52.646565
#   Commanded vehicle depth:  3725.812257 
#   Seafloor depth:           -3775.812257
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.279875 meters
#   Minimum depth: 3777.424692 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.810112 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.424692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002563;
longitude = -108.826541;
duration = 425;
initialDepth = 3734.584611;
finalDepth = 3727.424692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3727.424692 
#   Seafloor depth:           -3777.424692
# 
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 39
#   Segment length 106.279581 meters
#   Minimum depth: 3784.584611 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.953078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.584611 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002888;
longitude = -108.827523;
duration = 425;
initialDepth = 3734.555323;
finalDepth = 3734.584611;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3734.584611 
#   Seafloor depth:           -3784.584611
# 
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 39
#   Segment length 106.811416 meters
#   Minimum depth: 3784.555323 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.119689 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.555323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003213;
longitude = -108.828506;
duration = 427;
initialDepth = 3735.056463;
finalDepth = 3734.555323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5643660000001
#   Actual altitude:          51.5643660000001
#   Commanded vehicle depth:  3734.555323 
#   Seafloor depth:           -3786.119689
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 105.746863 meters
#   Minimum depth: 3785.056463 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.001838 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.056463 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003539;
longitude = -108.829493;
duration = 422;
initialDepth = 3736.106504;
finalDepth = 3735.056463;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5643660000001
#   Actual altitude:          51.5643660000001
#   Commanded vehicle depth:  3735.056463 
#   Seafloor depth:           -3785.056463
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.278699 meters
#   Minimum depth: 3786.106504 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.138145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.106504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003863;
longitude = -108.830471;
duration = 425;
initialDepth = 3740.305530;
finalDepth = 3736.106504;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3736.106504 
#   Seafloor depth:           -3786.106504
# 
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 39
#   Segment length 106.278405 meters
#   Minimum depth: 3790.305530 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.172773 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.305530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004187;
longitude = -108.831454;
duration = 425;
initialDepth = 3741.386464;
finalDepth = 3740.305530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3740.30553 
#   Seafloor depth:           -3790.305530
# 
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 39
#   Segment length 106.278111 meters
#   Minimum depth: 3791.386464 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.941660 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.386464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004512;
longitude = -108.832436;
duration = 425;
initialDepth = 3740.032572;
finalDepth = 3741.386464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3741.386464 
#   Seafloor depth:           -3791.386464
# 
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 39
#   Segment length 107.126333 meters
#   Minimum depth: 3790.032572 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.939421 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.032572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004837;
longitude = -108.833419;
duration = 428;
initialDepth = 3739.685013;
finalDepth = 3740.032572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.906849
#   Actual altitude:          52.906849
#   Commanded vehicle depth:  3740.032572 
#   Seafloor depth:           -3792.939421
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 105.429008 meters
#   Minimum depth: 3789.685013 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.509953 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.685013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005165;
longitude = -108.834409;
duration = 421;
initialDepth = 3741.526636;
finalDepth = 3739.685013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.906849
#   Actual altitude:          52.906849
#   Commanded vehicle depth:  3739.685013 
#   Seafloor depth:           -3790.011044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.277229 meters
#   Minimum depth: 3791.526636 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.010152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.526636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005487;
longitude = -108.835384;
duration = 425;
initialDepth = 3741.480661;
finalDepth = 3741.526636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3260310000001
#   Actual altitude:          50.3260310000001
#   Commanded vehicle depth:  3741.526636 
#   Seafloor depth:           -3791.768756
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.276935 meters
#   Minimum depth: 3791.480661 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.435516 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.480661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005812;
longitude = -108.836367;
duration = 425;
initialDepth = 3742.533165;
finalDepth = 3741.480661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2421199999999
#   Actual altitude:          50.2421199999999
#   Commanded vehicle depth:  3741.480661 
#   Seafloor depth:           -3791.517947
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.276642 meters
#   Minimum depth: 3792.533165 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.696696 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.533165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006137;
longitude = -108.837349;
duration = 425;
initialDepth = 3740.272760;
finalDepth = 3742.533165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0163640000001
#   Actual altitude:          51.0163640000001
#   Commanded vehicle depth:  3742.533165 
#   Seafloor depth:           -3793.549529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 107.441241 meters
#   Minimum depth: 3790.272760 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.219262 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.272760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006461;
longitude = -108.838332;
duration = 429;
initialDepth = 3739.858483;
finalDepth = 3740.272760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9465020000002
#   Actual altitude:          51.9465020000002
#   Commanded vehicle depth:  3740.27276 
#   Seafloor depth:           -3792.219262
# 
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 39
#   Segment length 105.111161 meters
#   Minimum depth: 3789.858483 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.264538 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.858483 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006790;
longitude = -108.839325;
duration = 420;
initialDepth = 3739.822553;
finalDepth = 3739.858483;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9465020000002
#   Actual altitude:          51.9465020000002
#   Commanded vehicle depth:  3739.858483 
#   Seafloor depth:           -3790.264538
# 
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 39
#   Segment length 106.275761 meters
#   Minimum depth: 3789.822553 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.909718 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.822553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007111;
longitude = -108.840297;
duration = 425;
initialDepth = 3739.906795;
finalDepth = 3739.822553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4060549999999
#   Actual altitude:          50.4060549999999
#   Commanded vehicle depth:  3739.822553 
#   Seafloor depth:           -3789.847337
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 106.275467 meters
#   Minimum depth: 3789.906795 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.058204 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.906795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007436;
longitude = -108.841280;
duration = 425;
initialDepth = 3739.451677;
finalDepth = 3739.906795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0247840000002
#   Actual altitude:          50.0247840000002
#   Commanded vehicle depth:  3739.906795 
#   Seafloor depth:           -3789.906795
# 
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 39
#   Segment length 106.275173 meters
#   Minimum depth: 3789.451677 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.870453 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.451677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007761;
longitude = -108.842263;
duration = 425;
initialDepth = 3739.151727;
finalDepth = 3739.451677;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.418776
#   Actual altitude:          50.418776
#   Commanded vehicle depth:  3739.451677 
#   Seafloor depth:           -3789.870453
# 
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 39
#   Segment length 107.756141 meters
#   Minimum depth: 3789.151727 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.285520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.151727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008086;
longitude = -108.843245;
duration = 431;
initialDepth = 3738.988358;
finalDepth = 3739.151727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7878759999999
#   Actual altitude:          50.7878759999999
#   Commanded vehicle depth:  3739.151727 
#   Seafloor depth:           -3789.939603
# 
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 39
#   Segment length 108.313245 meters
#   Minimum depth: 3788.988358 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.673274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.988358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008415;
longitude = -108.844242;
duration = 433;
initialDepth = 3738.130241;
finalDepth = 3738.988358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.7878759999999
#   Actual altitude:          50.7878759999999
#   Commanded vehicle depth:  3738.988358 
#   Seafloor depth:           -3789.134106
# 
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;
}
# 
#######################################################
# 
# 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 152.945994 meters
#   Minimum depth: 3788.130241 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.958547 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.130241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008746;
longitude = -108.845243;
duration = 611;
# abortOnTimeout    = True; 
initialDepth = 3740.852329;
finalDepth = 3738.130241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.5853350000002
#   Actual altitude:          51.5853350000002
#   Commanded vehicle depth:  3738.130241 
#   Seafloor depth:           -3789.715576
# 
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 37
#   Segment length 129.208659 meters
#   Minimum depth: 3790.852329 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.072449 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.852329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007452;
longitude = -108.845767;
duration = 516;
# abortOnTimeout    = True; 
initialDepth = 3740.339383;
finalDepth = 3740.852329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5853350000002
#   Actual altitude:          51.5853350000002
#   Commanded vehicle depth:  3740.852329 
#   Seafloor depth:           -3791.072449
# 
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 37
#   Segment length 100.758428 meters
#   Minimum depth: 3790.339383 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.843988 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.339383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007061;
longitude = -108.844571;
duration = 403;
initialDepth = 3740.455566;
finalDepth = 3740.339383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5046050000001
#   Actual altitude:          50.5046050000001
#   Commanded vehicle depth:  3740.339383 
#   Seafloor depth:           -3790.843988
# 
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 37
#   Segment length 107.892961 meters
#   Minimum depth: 3790.455566 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.196252 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.455566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006755;
longitude = -108.843638;
duration = 431;
initialDepth = 3740.655824;
finalDepth = 3740.455566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5046050000001
#   Actual altitude:          50.5046050000001
#   Commanded vehicle depth:  3740.455566 
#   Seafloor depth:           -3790.455566
# 
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 37
#   Segment length 104.413013 meters
#   Minimum depth: 3790.655824 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.193900 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.655824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006429;
longitude = -108.842640;
duration = 417;
initialDepth = 3740.689858;
finalDepth = 3740.655824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5380760000003
#   Actual altitude:          50.5380760000003
#   Commanded vehicle depth:  3740.655824 
#   Seafloor depth:           -3791.193900
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.153424 meters
#   Minimum depth: 3790.689858 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.552644 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.689858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006112;
longitude = -108.841673;
duration = 424;
initialDepth = 3741.579192;
finalDepth = 3740.689858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5380760000003
#   Actual altitude:          50.5380760000003
#   Commanded vehicle depth:  3740.689858 
#   Seafloor depth:           -3790.689858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.153716 meters
#   Minimum depth: 3791.579192 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.951347 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.579192 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005791;
longitude = -108.840690;
duration = 424;
initialDepth = 3743.176921;
finalDepth = 3741.579192;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3741.579192 
#   Seafloor depth:           -3791.579192
# 
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 100.586006 meters
#   Minimum depth: 3793.176921 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.402745 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3743.176921 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005469;
longitude = -108.839708;
duration = 402;
initialDepth = 3744.430902;
finalDepth = 3743.176921;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3743.176921 
#   Seafloor depth:           -3793.176921
# 
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 101.106857 meters
#   Minimum depth: 3794.430902 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.482728 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.430902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005165;
longitude = -108.838777;
duration = 404;
initialDepth = 3744.323503;
finalDepth = 3744.430902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0208669999997
#   Actual altitude:          51.0208669999997
#   Commanded vehicle depth:  3744.430902 
#   Seafloor depth:           -3795.451769
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 107.547911 meters
#   Minimum depth: 3794.323503 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.309171 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.323503 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004858;
longitude = -108.837841;
duration = 430;
initialDepth = 3744.277813;
finalDepth = 3744.323503;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0208669999997
#   Actual altitude:          51.0208669999997
#   Commanded vehicle depth:  3744.323503 
#   Seafloor depth:           -3794.345336
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 104.761503 meters
#   Minimum depth: 3794.277813 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.227700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.277813 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004533;
longitude = -108.836845;
duration = 419;
initialDepth = 3741.559164;
finalDepth = 3744.277813;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9498869999998
#   Actual altitude:          50.9498869999998
#   Commanded vehicle depth:  3744.277813 
#   Seafloor depth:           -3795.227700
# 
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 37
#   Segment length 106.155145 meters
#   Minimum depth: 3791.559164 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.144631 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.559164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004215;
longitude = -108.835876;
duration = 424;
initialDepth = 3741.403722;
finalDepth = 3741.559164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5854670000003
#   Actual altitude:          52.5854670000003
#   Commanded vehicle depth:  3741.559164 
#   Seafloor depth:           -3794.144631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.155436 meters
#   Minimum depth: 3791.403722 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.835326 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.403722 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003894;
longitude = -108.834893;
duration = 424;
initialDepth = 3739.635276;
finalDepth = 3741.403722;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5854670000003
#   Actual altitude:          52.5854670000003
#   Commanded vehicle depth:  3741.403722 
#   Seafloor depth:           -3791.543333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.240834 meters
#   Minimum depth: 3789.635276 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.208439 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.635276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003572;
longitude = -108.833910;
duration = 400;
initialDepth = 3739.610597;
finalDepth = 3739.635276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.573163
#   Actual altitude:          51.573163
#   Commanded vehicle depth:  3739.635276 
#   Seafloor depth:           -3791.208439
# 
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 37
#   Segment length 101.455299 meters
#   Minimum depth: 3789.610597 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.908208 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.610597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003269;
longitude = -108.832982;
duration = 405;
initialDepth = 3739.335262;
finalDepth = 3739.610597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.573163
#   Actual altitude:          51.573163
#   Commanded vehicle depth:  3739.610597 
#   Seafloor depth:           -3789.633594
# 
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 37
#   Segment length 107.202850 meters
#   Minimum depth: 3789.335262 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.091209 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.335262 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002961;
longitude = -108.832043;
duration = 428;
initialDepth = 3737.875162;
finalDepth = 3739.335262;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7344229999999
#   Actual altitude:          52.7344229999999
#   Commanded vehicle depth:  3739.335262 
#   Seafloor depth:           -3792.069685
# 
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 37
#   Segment length 105.110006 meters
#   Minimum depth: 3787.875162 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.311559 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.875162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002637;
longitude = -108.831051;
duration = 420;
initialDepth = 3735.044750;
finalDepth = 3737.875162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7344229999999
#   Actual altitude:          52.7344229999999
#   Commanded vehicle depth:  3737.875162 
#   Seafloor depth:           -3789.311559
# 
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 37
#   Segment length 106.156866 meters
#   Minimum depth: 3785.044750 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.682256 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.044750 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002318;
longitude = -108.830078;
duration = 424;
initialDepth = 3734.893342;
finalDepth = 3735.044750;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.637506
#   Actual altitude:          52.637506
#   Commanded vehicle depth:  3735.04475 
#   Seafloor depth:           -3787.682256
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.157157 meters
#   Minimum depth: 3784.893342 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.619043 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.893342 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001997;
longitude = -108.829095;
duration = 424;
initialDepth = 3732.107940;
finalDepth = 3734.893342;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.637506
#   Actual altitude:          52.637506
#   Commanded vehicle depth:  3734.893342 
#   Seafloor depth:           -3785.009210
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.157450 meters
#   Minimum depth: 3782.107940 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.921339 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.107940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001675;
longitude = -108.828113;
duration = 424;
initialDepth = 3728.245335;
finalDepth = 3732.107940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7207090000002
#   Actual altitude:          54.7207090000002
#   Commanded vehicle depth:  3732.10794 
#   Seafloor depth:           -3786.828649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.157741 meters
#   Minimum depth: 3778.245335 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.604933 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.245335 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001354;
longitude = -108.827130;
duration = 424;
initialDepth = 3728.987410;
finalDepth = 3728.245335;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7207090000002
#   Actual altitude:          54.7207090000002
#   Commanded vehicle depth:  3728.245335 
#   Seafloor depth:           -3781.604933
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 106.158033 meters
#   Minimum depth: 3778.987410 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.943575 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.987410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001032;
longitude = -108.826148;
duration = 424;
initialDepth = 3727.167016;
finalDepth = 3728.987410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.359598
#   Actual altitude:          53.359598
#   Commanded vehicle depth:  3728.98741 
#   Seafloor depth:           -3778.987410
# 
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 37
#   Segment length 106.158325 meters
#   Minimum depth: 3777.167016 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.194717 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3727.167016 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000710;
longitude = -108.825165;
duration = 424;
initialDepth = 3716.978046;
finalDepth = 3727.167016;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.027701
#   Actual altitude:          57.027701
#   Commanded vehicle depth:  3727.167016 
#   Seafloor depth:           -3784.194717
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.664145 meters
#   Minimum depth: 3766.978046 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.657915 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3716.978046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000389;
longitude = -108.824182;
duration = 410;
initialDepth = 3715.991692;
finalDepth = 3716.978046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.6798689999996
#   Actual altitude:          58.6798689999996
#   Commanded vehicle depth:  3716.978046 
#   Seafloor depth:           -3775.657915
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.34;
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 36
#   Segment length 130.699599 meters
#   Minimum depth: 3765.991692 meters looking forward 100.000000 meters along route
#   Maximum depth: 3772.083544 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3715.991692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000078;
longitude = -108.823232;
duration = 522;
# abortOnTimeout    = True; 
initialDepth = 3722.398926;
finalDepth = 3715.991692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.6798689999996
#   Actual altitude:          58.6798689999996
#   Commanded vehicle depth:  3715.991692 
#   Seafloor depth:           -3766.731018
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.34;
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 35
#   Segment length 109.813617 meters
#   Minimum depth: 3772.398926 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.870656 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.398926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998965;
longitude = -108.823658;
duration = 439;
# abortOnTimeout    = True; 
initialDepth = 3729.878987;
finalDepth = 3722.398926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7393259999999
#   Actual altitude:          50.7393259999999
#   Commanded vehicle depth:  3722.398926 
#   Seafloor depth:           -3772.398926
# 
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 35
#   Segment length 105.929284 meters
#   Minimum depth: 3779.878987 meters looking forward 100.000000 meters along route
#   Maximum depth: 3781.311809 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.878987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999296;
longitude = -108.824675;
duration = 423;
initialDepth = 3728.880995;
finalDepth = 3729.878987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3729.878987 
#   Seafloor depth:           -3779.878987
# 
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 106.091322 meters
#   Minimum depth: 3778.880995 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.343392 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.880995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999615;
longitude = -108.825656;
duration = 424;
initialDepth = 3729.510704;
finalDepth = 3728.880995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4623970000002
#   Actual altitude:          51.4623970000002
#   Commanded vehicle depth:  3728.880995 
#   Seafloor depth:           -3780.343392
# 
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 35
#   Segment length 106.091032 meters
#   Minimum depth: 3779.510704 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.909159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.510704 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999935;
longitude = -108.826639;
duration = 424;
initialDepth = 3731.387811;
finalDepth = 3729.510704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4623970000002
#   Actual altitude:          51.4623970000002
#   Commanded vehicle depth:  3729.510704 
#   Seafloor depth:           -3779.510704
# 
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 35
#   Segment length 106.090742 meters
#   Minimum depth: 3781.387811 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.153891 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.387811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000255;
longitude = -108.827621;
duration = 424;
initialDepth = 3731.607533;
finalDepth = 3731.387811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7215590000001
#   Actual altitude:          52.7215590000001
#   Commanded vehicle depth:  3731.387811 
#   Seafloor depth:           -3784.109370
# 
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 35
#   Segment length 106.090451 meters
#   Minimum depth: 3781.607533 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.548383 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.607533 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000574;
longitude = -108.828604;
duration = 424;
initialDepth = 3733.888884;
finalDepth = 3731.607533;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7215590000001
#   Actual altitude:          52.7215590000001
#   Commanded vehicle depth:  3731.607533 
#   Seafloor depth:           -3781.607533
# 
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 35
#   Segment length 106.090160 meters
#   Minimum depth: 3783.888884 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.654800 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.888884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000894;
longitude = -108.829587;
duration = 424;
initialDepth = 3735.890371;
finalDepth = 3733.888884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.334261
#   Actual altitude:          50.334261
#   Commanded vehicle depth:  3733.888884 
#   Seafloor depth:           -3784.223145
# 
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 35
#   Segment length 106.089869 meters
#   Minimum depth: 3785.890371 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.508093 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.890371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001214;
longitude = -108.830569;
duration = 424;
initialDepth = 3739.060655;
finalDepth = 3735.890371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.334261
#   Actual altitude:          50.334261
#   Commanded vehicle depth:  3735.890371 
#   Seafloor depth:           -3785.890371
# 
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 35
#   Segment length 106.089579 meters
#   Minimum depth: 3789.060655 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.509868 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.060655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001533;
longitude = -108.831552;
duration = 424;
initialDepth = 3741.597966;
finalDepth = 3739.060655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3739.060655 
#   Seafloor depth:           -3789.060655
# 
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 110.139356 meters
#   Minimum depth: 3791.597966 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.991669 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.597966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001853;
longitude = -108.832535;
duration = 440;
initialDepth = 3743.152721;
finalDepth = 3741.597966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3741.597966 
#   Seafloor depth:           -3791.597966
# 
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 102.038931 meters
#   Minimum depth: 3793.152721 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.983022 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3743.152721 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002185;
longitude = -108.833555;
duration = 408;
initialDepth = 3741.925128;
finalDepth = 3743.152721;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3743.152721 
#   Seafloor depth:           -3793.152721
# 
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 107.673924 meters
#   Minimum depth: 3791.925128 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.057991 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.925128 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002493;
longitude = -108.834500;
duration = 430;
initialDepth = 3742.717088;
finalDepth = 3741.925128;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1328630000003
#   Actual altitude:          52.1328630000003
#   Commanded vehicle depth:  3741.925128 
#   Seafloor depth:           -3794.057991
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 104.503201 meters
#   Minimum depth: 3792.717088 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.618051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.717088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002817;
longitude = -108.835497;
duration = 418;
initialDepth = 3745.194657;
finalDepth = 3742.717088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1328630000003
#   Actual altitude:          52.1328630000003
#   Commanded vehicle depth:  3742.717088 
#   Seafloor depth:           -3792.717088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.088127 meters
#   Minimum depth: 3795.194657 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.537158 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3745.194657 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003132;
longitude = -108.836465;
duration = 424;
initialDepth = 3744.043610;
finalDepth = 3745.194657;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2365159999999
#   Actual altitude:          50.2365159999999
#   Commanded vehicle depth:  3745.194657 
#   Seafloor depth:           -3795.431173
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.087836 meters
#   Minimum depth: 3794.043610 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.439762 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.043610 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003452;
longitude = -108.837448;
duration = 424;
initialDepth = 3744.214619;
finalDepth = 3744.043610;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3961519999998
#   Actual altitude:          51.3961519999998
#   Commanded vehicle depth:  3744.04361 
#   Seafloor depth:           -3795.439762
# 
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 35
#   Segment length 106.087546 meters
#   Minimum depth: 3794.214619 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.988129 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.214619 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003772;
longitude = -108.838430;
duration = 424;
initialDepth = 3743.106123;
finalDepth = 3744.214619;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3961519999998
#   Actual altitude:          51.3961519999998
#   Commanded vehicle depth:  3744.214619 
#   Seafloor depth:           -3794.214619
# 
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 35
#   Segment length 106.087256 meters
#   Minimum depth: 3793.106123 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.928525 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3743.106123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004091;
longitude = -108.839413;
duration = 424;
initialDepth = 3739.990888;
finalDepth = 3743.106123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8224019999998
#   Actual altitude:          51.8224019999998
#   Commanded vehicle depth:  3743.106123 
#   Seafloor depth:           -3794.928525
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 100.277790 meters
#   Minimum depth: 3789.990888 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.729655 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.990888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004411;
longitude = -108.840396;
duration = 401;
initialDepth = 3740.024363;
finalDepth = 3739.990888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7387670000003
#   Actual altitude:          52.7387670000003
#   Commanded vehicle depth:  3739.990888 
#   Seafloor depth:           -3792.729655
# 
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 35
#   Segment length 101.287196 meters
#   Minimum depth: 3790.024363 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.824176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.024363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004713;
longitude = -108.841324;
duration = 405;
initialDepth = 3739.765487;
finalDepth = 3740.024363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7387670000003
#   Actual altitude:          52.7387670000003
#   Commanded vehicle depth:  3740.024363 
#   Seafloor depth:           -3790.024363
# 
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 35
#   Segment length 108.421121 meters
#   Minimum depth: 3789.765487 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.491234 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.765487 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005018;
longitude = -108.842263;
duration = 433;
initialDepth = 3740.040824;
finalDepth = 3739.765487;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.725747
#   Actual altitude:          50.725747
#   Commanded vehicle depth:  3739.765487 
#   Seafloor depth:           -3790.491234
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.751416 meters
#   Minimum depth: 3790.040824 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.627091 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.040824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005345;
longitude = -108.843267;
duration = 415;
initialDepth = 3739.304146;
finalDepth = 3740.040824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.725747
#   Actual altitude:          50.725747
#   Commanded vehicle depth:  3740.040824 
#   Seafloor depth:           -3790.040824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 106.085834 meters
#   Minimum depth: 3789.304146 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.167218 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.304146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005658;
longitude = -108.844228;
duration = 424;
initialDepth = 3739.641066;
finalDepth = 3739.304146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8630720000001
#   Actual altitude:          50.8630720000001
#   Commanded vehicle depth:  3739.304146 
#   Seafloor depth:           -3790.167218
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 109.639688 meters
#   Minimum depth: 3789.641066 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.989321 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.641066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005978;
longitude = -108.845210;
duration = 438;
initialDepth = 3739.757572;
finalDepth = 3739.641066;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.8630720000001
#   Actual altitude:          50.8630720000001
#   Commanded vehicle depth:  3739.641066 
#   Seafloor depth:           -3789.641066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.43;
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 34
#   Segment length 136.065927 meters
#   Minimum depth: 3789.757572 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.893799 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.757572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006308;
longitude = -108.846226;
duration = 544;
# abortOnTimeout    = True; 
initialDepth = 3739.755450;
finalDepth = 3739.757572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.136227
#   Actual altitude:          51.136227
#   Commanded vehicle depth:  3739.757572 
#   Seafloor depth:           -3790.893799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 109.674369 meters
#   Minimum depth: 3789.755450 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.791952 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.755450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005134;
longitude = -108.846619;
duration = 438;
# abortOnTimeout    = True; 
initialDepth = 3740.797938;
finalDepth = 3739.755450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.136227
#   Actual altitude:          51.136227
#   Commanded vehicle depth:  3739.75545 
#   Seafloor depth:           -3789.785400
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.124615 meters
#   Minimum depth: 3790.797938 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.546705 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.797938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004803;
longitude = -108.845604;
duration = 424;
initialDepth = 3738.851092;
finalDepth = 3740.797938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0299500000001
#   Actual altitude:          50.0299500000001
#   Commanded vehicle depth:  3740.797938 
#   Seafloor depth:           -3790.797938
# 
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 33
#   Segment length 106.124906 meters
#   Minimum depth: 3788.851092 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.010208 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.851092 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004482;
longitude = -108.844621;
duration = 424;
initialDepth = 3738.799794;
finalDepth = 3738.851092;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1591160000003
#   Actual altitude:          52.1591160000003
#   Commanded vehicle depth:  3738.851092 
#   Seafloor depth:           -3791.010208
# 
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 33
#   Segment length 106.125197 meters
#   Minimum depth: 3788.799794 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.479100 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.799794 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004161;
longitude = -108.843638;
duration = 424;
initialDepth = 3740.722699;
finalDepth = 3738.799794;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1591160000003
#   Actual altitude:          52.1591160000003
#   Commanded vehicle depth:  3738.799794 
#   Seafloor depth:           -3788.814678
# 
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 33
#   Segment length 106.125488 meters
#   Minimum depth: 3790.722699 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.039487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.722699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003840;
longitude = -108.842656;
duration = 424;
initialDepth = 3742.107827;
finalDepth = 3740.722699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0148840000002
#   Actual altitude:          50.0148840000002
#   Commanded vehicle depth:  3740.722699 
#   Seafloor depth:           -3790.722699
# 
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 33
#   Segment length 106.125779 meters
#   Minimum depth: 3792.107827 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.753505 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.107827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003520;
longitude = -108.841673;
duration = 424;
initialDepth = 3744.217525;
finalDepth = 3742.107827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3742.107827 
#   Seafloor depth:           -3792.107827
# 
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 33
#   Segment length 106.126070 meters
#   Minimum depth: 3794.217525 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.569786 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.217525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003199;
longitude = -108.840690;
duration = 424;
initialDepth = 3744.804559;
finalDepth = 3744.217525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3744.217525 
#   Seafloor depth:           -3794.217525
# 
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 33
#   Segment length 109.783786 meters
#   Minimum depth: 3794.804559 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.402411 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.804559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002878;
longitude = -108.839708;
duration = 439;
initialDepth = 3744.277301;
finalDepth = 3744.804559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5978519999999
#   Actual altitude:          52.5978519999999
#   Commanded vehicle depth:  3744.804559 
#   Seafloor depth:           -3797.402411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.469226 meters
#   Minimum depth: 3794.277301 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.751043 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.277301 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002546;
longitude = -108.838691;
duration = 409;
initialDepth = 3744.608761;
finalDepth = 3744.277301;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5978519999999
#   Actual altitude:          52.5978519999999
#   Commanded vehicle depth:  3744.277301 
#   Seafloor depth:           -3794.751043
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.648505 meters
#   Minimum depth: 3794.608761 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.136802 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.608761 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002237;
longitude = -108.837743;
duration = 426;
initialDepth = 3744.924324;
finalDepth = 3744.608761;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4737420000001
#   Actual altitude:          50.4737420000001
#   Commanded vehicle depth:  3744.608761 
#   Seafloor depth:           -3794.608761
# 
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 33
#   Segment length 105.605672 meters
#   Minimum depth: 3794.924324 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.241778 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.924324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001914;
longitude = -108.836755;
duration = 422;
initialDepth = 3743.621972;
finalDepth = 3744.924324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0315729999998
#   Actual altitude:          50.0315729999998
#   Commanded vehicle depth:  3744.924324 
#   Seafloor depth:           -3794.955897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.127525 meters
#   Minimum depth: 3793.621972 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.160617 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3743.621972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001595;
longitude = -108.835777;
duration = 424;
initialDepth = 3741.721013;
finalDepth = 3743.621972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5386450000001
#   Actual altitude:          51.5386450000001
#   Commanded vehicle depth:  3743.621972 
#   Seafloor depth:           -3795.160617
# 
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 33
#   Segment length 106.127817 meters
#   Minimum depth: 3791.721013 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.598623 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.721013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001274;
longitude = -108.834795;
duration = 424;
initialDepth = 3741.187234;
finalDepth = 3741.721013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.87761
#   Actual altitude:          51.87761
#   Commanded vehicle depth:  3741.721013 
#   Seafloor depth:           -3793.598623
# 
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 33
#   Segment length 100.377839 meters
#   Minimum depth: 3791.187234 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.457422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.187234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000954;
longitude = -108.833812;
duration = 401;
initialDepth = 3736.814362;
finalDepth = 3741.187234;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.87761
#   Actual altitude:          51.87761
#   Commanded vehicle depth:  3741.187234 
#   Seafloor depth:           -3791.457422
# 
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 33
#   Segment length 101.265814 meters
#   Minimum depth: 3786.814362 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.363172 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.814362 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000650;
longitude = -108.832883;
duration = 405;
initialDepth = 3733.078778;
finalDepth = 3736.814362;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5488099999998
#   Actual altitude:          54.5488099999998
#   Commanded vehicle depth:  3736.814362 
#   Seafloor depth:           -3791.363172
# 
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 33
#   Segment length 107.855309 meters
#   Minimum depth: 3783.078778 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.112183 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.078778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000344;
longitude = -108.831945;
duration = 431;
initialDepth = 3733.100744;
finalDepth = 3733.078778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5488099999998
#   Actual altitude:          54.5488099999998
#   Commanded vehicle depth:  3733.078778 
#   Seafloor depth:           -3786.112183
# 
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 33
#   Segment length 104.402303 meters
#   Minimum depth: 3783.100744 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.166040 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.100744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000018;
longitude = -108.830946;
duration = 417;
initialDepth = 3730.532796;
finalDepth = 3733.100744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0334050000001
#   Actual altitude:          53.0334050000001
#   Commanded vehicle depth:  3733.100744 
#   Seafloor depth:           -3783.100744
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 106.129243 meters
#   Minimum depth: 3780.532796 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.774799 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.532796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999703;
longitude = -108.829980;
duration = 424;
initialDepth = 3730.705086;
finalDepth = 3730.532796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2420029999998
#   Actual altitude:          53.2420029999998
#   Commanded vehicle depth:  3730.532796 
#   Seafloor depth:           -3783.774799
# 
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 33
#   Segment length 106.129534 meters
#   Minimum depth: 3780.705086 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.351342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.705086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999382;
longitude = -108.828997;
duration = 424;
initialDepth = 3734.744007;
finalDepth = 3730.705086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2420029999998
#   Actual altitude:          53.2420029999998
#   Commanded vehicle depth:  3730.705086 
#   Seafloor depth:           -3780.705086
# 
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 33
#   Segment length 101.584557 meters
#   Minimum depth: 3784.744007 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.891532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.744007 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999061;
longitude = -108.828015;
duration = 406;
initialDepth = 3732.932774;
finalDepth = 3734.744007;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3734.744007 
#   Seafloor depth:           -3784.744007
# 
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 33
#   Segment length 100.062361 meters
#   Minimum depth: 3782.932774 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.035750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.932774 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998754;
longitude = -108.827074;
duration = 400;
initialDepth = 3729.351607;
finalDepth = 3732.932774;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1029760000001
#   Actual altitude:          53.1029760000001
#   Commanded vehicle depth:  3732.932774 
#   Seafloor depth:           -3786.035750
# 
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 33
#   Segment length 106.130379 meters
#   Minimum depth: 3779.351607 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.841100 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.351607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998452;
longitude = -108.826148;
duration = 424;
initialDepth = 3728.973470;
finalDepth = 3729.351607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.489493
#   Actual altitude:          53.489493
#   Commanded vehicle depth:  3729.351607 
#   Seafloor depth:           -3782.841100
# 
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 33
#   Segment length 102.596615 meters
#   Minimum depth: 3778.973470 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.983589 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.973470 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998131;
longitude = -108.825165;
duration = 410;
initialDepth = 3730.034668;
finalDepth = 3728.973470;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.489493
#   Actual altitude:          53.489493
#   Commanded vehicle depth:  3728.97347 
#   Seafloor depth:           -3779.144810
# 
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;
}
# 
#######################################################
# 
# 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 143.646666 meters
#   Minimum depth: 3780.034668 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.270985 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.034668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997821;
longitude = -108.824215;
duration = 574;
# abortOnTimeout    = True; 
initialDepth = 3728.429786;
finalDepth = 3730.034668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.1713399999999
#   Actual altitude:          50.1713399999999
#   Commanded vehicle depth:  3730.034668 
#   Seafloor depth:           -3780.034668
# 
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;
}
# 
#######################################################
# 
# 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 109.681737 meters
#   Minimum depth: 3778.429786 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.920837 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.429786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996617;
longitude = -108.824739;
duration = 438;
# abortOnTimeout    = True; 
initialDepth = 3728.290741;
finalDepth = 3728.429786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.491051
#   Actual altitude:          51.491051
#   Commanded vehicle depth:  3728.429786 
#   Seafloor depth:           -3779.920837
# 
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 31
#   Segment length 106.132831 meters
#   Minimum depth: 3778.290741 meters looking forward 100.000000 meters along route
#   Maximum depth: 3780.310086 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.290741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996949;
longitude = -108.825754;
duration = 424;
initialDepth = 3730.650030;
finalDepth = 3728.290741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.491051
#   Actual altitude:          51.491051
#   Commanded vehicle depth:  3728.290741 
#   Seafloor depth:           -3778.429638
# 
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 31
#   Segment length 106.132541 meters
#   Minimum depth: 3780.650030 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.003953 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.650030 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997269;
longitude = -108.826737;
duration = 424;
initialDepth = 3734.198966;
finalDepth = 3730.650030;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1388970000003
#   Actual altitude:          50.1388970000003
#   Commanded vehicle depth:  3730.65003 
#   Seafloor depth:           -3780.650030
# 
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 31
#   Segment length 106.132248 meters
#   Minimum depth: 3784.198966 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.699726 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.198966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997590;
longitude = -108.827720;
duration = 424;
initialDepth = 3731.315540;
finalDepth = 3734.198966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3734.198966 
#   Seafloor depth:           -3784.198966
# 
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 31
#   Segment length 106.131958 meters
#   Minimum depth: 3781.315540 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.058794 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.315540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997911;
longitude = -108.828702;
duration = 424;
initialDepth = 3731.577739;
finalDepth = 3731.315540;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.743254
#   Actual altitude:          53.743254
#   Commanded vehicle depth:  3731.31554 
#   Seafloor depth:           -3785.058794
# 
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 31
#   Segment length 106.131666 meters
#   Minimum depth: 3781.577739 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.129981 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3731.577739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998232;
longitude = -108.829685;
duration = 424;
initialDepth = 3733.462035;
finalDepth = 3731.577739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.743254
#   Actual altitude:          53.743254
#   Commanded vehicle depth:  3731.577739 
#   Seafloor depth:           -3781.577739
# 
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 31
#   Segment length 106.131375 meters
#   Minimum depth: 3783.462035 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.048691 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.462035 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998552;
longitude = -108.830668;
duration = 424;
initialDepth = 3736.089696;
finalDepth = 3733.462035;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3733.462035 
#   Seafloor depth:           -3783.462035
# 
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 31
#   Segment length 109.976589 meters
#   Minimum depth: 3786.089696 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.506790 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.089696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998873;
longitude = -108.831650;
duration = 439;
initialDepth = 3739.719178;
finalDepth = 3736.089696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3736.089696 
#   Seafloor depth:           -3786.089696
# 
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 31
#   Segment length 102.285288 meters
#   Minimum depth: 3789.719178 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.401019 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.719178 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999206;
longitude = -108.832668;
duration = 409;
initialDepth = 3742.313122;
finalDepth = 3739.719178;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3739.719178 
#   Seafloor depth:           -3789.719178
# 
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 31
#   Segment length 106.811413 meters
#   Minimum depth: 3792.313122 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.685180 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.313122 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999515;
longitude = -108.833615;
duration = 427;
initialDepth = 3742.297582;
finalDepth = 3742.313122;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1989359999998
#   Actual altitude:          50.1989359999998
#   Commanded vehicle depth:  3742.313122 
#   Seafloor depth:           -3792.512058
# 
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 31
#   Segment length 105.449298 meters
#   Minimum depth: 3792.297582 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.978243 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.297582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999838;
longitude = -108.834604;
duration = 421;
initialDepth = 3744.080789;
finalDepth = 3742.297582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1989359999998
#   Actual altitude:          50.1989359999998
#   Commanded vehicle depth:  3742.297582 
#   Seafloor depth:           -3792.310860
# 
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 31
#   Segment length 106.129920 meters
#   Minimum depth: 3794.080789 meters looking forward 100.000000 meters along route
#   Maximum depth: 3796.497172 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.080789 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000156;
longitude = -108.835581;
duration = 424;
initialDepth = 3746.549439;
finalDepth = 3744.080789;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0132779999999
#   Actual altitude:          50.0132779999999
#   Commanded vehicle depth:  3744.080789 
#   Seafloor depth:           -3794.080789
# 
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 31
#   Segment length 106.129628 meters
#   Minimum depth: 3796.549439 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.242823 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3746.549439 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000477;
longitude = -108.836563;
duration = 424;
initialDepth = 3747.300366;
finalDepth = 3746.549439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3746.549439 
#   Seafloor depth:           -3796.549439
# 
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 31
#   Segment length 100.481165 meters
#   Minimum depth: 3797.300366 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.832661 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3747.300366 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000798;
longitude = -108.837546;
duration = 401;
initialDepth = 3747.686226;
finalDepth = 3747.300366;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3747.300366 
#   Seafloor depth:           -3797.300366
# 
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 31
#   Segment length 101.164326 meters
#   Minimum depth: 3797.686226 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.928834 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3747.686226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001102;
longitude = -108.838476;
duration = 404;
initialDepth = 3747.064246;
finalDepth = 3747.686226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1875620000001
#   Actual altitude:          50.1875620000001
#   Commanded vehicle depth:  3747.686226 
#   Seafloor depth:           -3797.873788
# 
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 31
#   Segment length 107.928985 meters
#   Minimum depth: 3797.064246 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.600398 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3747.064246 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001407;
longitude = -108.839413;
duration = 431;
initialDepth = 3744.765028;
finalDepth = 3747.064246;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5361520000001
#   Actual altitude:          50.5361520000001
#   Commanded vehicle depth:  3747.064246 
#   Seafloor depth:           -3797.600398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 104.328292 meters
#   Minimum depth: 3794.765028 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.031031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.765028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001734;
longitude = -108.840412;
duration = 417;
initialDepth = 3741.191694;
finalDepth = 3744.765028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2660030000002
#   Actual altitude:          52.2660030000002
#   Commanded vehicle depth:  3744.765028 
#   Seafloor depth:           -3797.031031
# 
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 31
#   Segment length 106.128202 meters
#   Minimum depth: 3791.191694 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.415370 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3741.191694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002049;
longitude = -108.841378;
duration = 424;
initialDepth = 3740.420765;
finalDepth = 3741.191694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2236760000001
#   Actual altitude:          53.2236760000001
#   Commanded vehicle depth:  3741.191694 
#   Seafloor depth:           -3794.415370
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.127911 meters
#   Minimum depth: 3790.420765 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.177700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.420765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002370;
longitude = -108.842361;
duration = 424;
initialDepth = 3739.369894;
finalDepth = 3740.420765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2236760000001
#   Actual altitude:          53.2236760000001
#   Commanded vehicle depth:  3740.420765 
#   Seafloor depth:           -3791.177700
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 101.598829 meters
#   Minimum depth: 3789.369894 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.459230 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.369894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002691;
longitude = -108.843343;
duration = 406;
initialDepth = 3740.661066;
finalDepth = 3739.369894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7569350000003
#   Actual altitude:          50.7569350000003
#   Commanded vehicle depth:  3739.369894 
#   Seafloor depth:           -3790.089767
# 
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 31
#   Segment length 100.043401 meters
#   Minimum depth: 3790.661066 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.334559 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.661066 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002998;
longitude = -108.844284;
duration = 400;
initialDepth = 3742.460966;
finalDepth = 3740.661066;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.719873
#   Actual altitude:          50.719873
#   Commanded vehicle depth:  3740.661066 
#   Seafloor depth:           -3790.661066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 106.127067 meters
#   Minimum depth: 3792.460966 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.590359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.460966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003300;
longitude = -108.845210;
duration = 424;
initialDepth = 3739.100417;
finalDepth = 3742.460966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3742.460966 
#   Seafloor depth:           -3792.460966
# 
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 31
#   Segment length 102.594595 meters
#   Minimum depth: 3789.100417 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.235317 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.100417 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003621;
longitude = -108.846193;
duration = 410;
initialDepth = 3738.917053;
finalDepth = 3739.100417;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.1349
#   Actual altitude:          54.1349
#   Commanded vehicle depth:  3739.100417 
#   Seafloor depth:           -3793.235317
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 148.673974 meters
#   Minimum depth: 3788.917053 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.487620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.917053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003931;
longitude = -108.847143;
duration = 594;
# abortOnTimeout    = True; 
initialDepth = 3739.970655;
finalDepth = 3738.917053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.1349
#   Actual altitude:          54.1349
#   Commanded vehicle depth:  3738.917053 
#   Seafloor depth:           -3788.917053
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.07;
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 113.049526 meters
#   Minimum depth: 3789.970655 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.828466 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.970655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002667;
longitude = -108.847634;
duration = 452;
# abortOnTimeout    = True; 
initialDepth = 3739.467984;
finalDepth = 3739.970655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.578051
#   Actual altitude:          50.578051
#   Commanded vehicle depth:  3739.970655 
#   Seafloor depth:           -3790.548706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 108.058553 meters
#   Minimum depth: 3789.467984 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.849154 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.467984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002328;
longitude = -108.846586;
duration = 432;
initialDepth = 3739.541597;
finalDepth = 3739.467984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.578051
#   Actual altitude:          50.578051
#   Commanded vehicle depth:  3739.467984 
#   Seafloor depth:           -3789.849154
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 103.963343 meters
#   Minimum depth: 3789.541597 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.757425 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.541597 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002005;
longitude = -108.845585;
duration = 415;
initialDepth = 3739.354424;
finalDepth = 3739.541597;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3811700000001
#   Actual altitude:          50.3811700000001
#   Commanded vehicle depth:  3739.541597 
#   Seafloor depth:           -3789.541597
# 
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 29
#   Segment length 106.984617 meters
#   Minimum depth: 3789.354424 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.543010 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.354424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001693;
longitude = -108.844621;
duration = 427;
initialDepth = 3740.577004;
finalDepth = 3739.354424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2494280000001
#   Actual altitude:          50.2494280000001
#   Commanded vehicle depth:  3739.354424 
#   Seafloor depth:           -3789.603852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 105.038435 meters
#   Minimum depth: 3790.577004 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.477647 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.577004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001373;
longitude = -108.843629;
duration = 420;
initialDepth = 3743.509642;
finalDepth = 3740.577004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2494280000001
#   Actual altitude:          50.2494280000001
#   Commanded vehicle depth:  3740.577004 
#   Seafloor depth:           -3790.577004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 106.011959 meters
#   Minimum depth: 3793.509642 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.958731 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3743.509642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001058;
longitude = -108.842656;
duration = 424;
initialDepth = 3745.963822;
finalDepth = 3743.509642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3743.509642 
#   Seafloor depth:           -3793.509642
# 
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 106.012247 meters
#   Minimum depth: 3795.963822 meters looking forward 100.000000 meters along route
#   Maximum depth: 3798.844016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3745.963822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000740;
longitude = -108.841673;
duration = 424;
initialDepth = 3748.772059;
finalDepth = 3745.963822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3745.963822 
#   Seafloor depth:           -3795.963822
# 
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 106.012537 meters
#   Minimum depth: 3798.772059 meters looking forward 100.000000 meters along route
#   Maximum depth: 3799.226703 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3748.772059 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000423;
longitude = -108.840690;
duration = 424;
initialDepth = 3747.692855;
finalDepth = 3748.772059;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1345380000002
#   Actual altitude:          50.1345380000002
#   Commanded vehicle depth:  3748.772059 
#   Seafloor depth:           -3798.906597
# 
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 29
#   Segment length 106.012826 meters
#   Minimum depth: 3797.692855 meters looking forward 100.000000 meters along route
#   Maximum depth: 3798.752253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3747.692855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000105;
longitude = -108.839708;
duration = 424;
initialDepth = 3747.998027;
finalDepth = 3747.692855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0593980000003
#   Actual altitude:          51.0593980000003
#   Commanded vehicle depth:  3747.692855 
#   Seafloor depth:           -3798.752253
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 106.013114 meters
#   Minimum depth: 3797.998027 meters looking forward 100.000000 meters along route
#   Maximum depth: 3798.928904 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3747.998027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999787;
longitude = -108.838725;
duration = 424;
initialDepth = 3747.229013;
finalDepth = 3747.998027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0593980000003
#   Actual altitude:          51.0593980000003
#   Commanded vehicle depth:  3747.998027 
#   Seafloor depth:           -3797.998027
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 106.013404 meters
#   Minimum depth: 3797.229013 meters looking forward 100.000000 meters along route
#   Maximum depth: 3798.619248 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3747.229013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999470;
longitude = -108.837743;
duration = 424;
initialDepth = 3744.691015;
finalDepth = 3747.229013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3902349999998
#   Actual altitude:          51.3902349999998
#   Commanded vehicle depth:  3747.229013 
#   Seafloor depth:           -3798.619248
# 
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 29
#   Segment length 106.013692 meters
#   Minimum depth: 3794.691015 meters looking forward 100.000000 meters along route
#   Maximum depth: 3796.979080 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.691015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999152;
longitude = -108.836760;
duration = 424;
initialDepth = 3743.980163;
finalDepth = 3744.691015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2880650000002
#   Actual altitude:          52.2880650000002
#   Commanded vehicle depth:  3744.691015 
#   Seafloor depth:           -3796.979080
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 106.013982 meters
#   Minimum depth: 3793.980163 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.635209 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3743.980163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998835;
longitude = -108.835777;
duration = 424;
initialDepth = 3742.236354;
finalDepth = 3743.980163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2880650000002
#   Actual altitude:          52.2880650000002
#   Commanded vehicle depth:  3743.980163 
#   Seafloor depth:           -3794.635209
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 106.014270 meters
#   Minimum depth: 3792.236354 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.772029 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.236354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998517;
longitude = -108.834795;
duration = 424;
initialDepth = 3742.304166;
finalDepth = 3742.236354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5356750000001
#   Actual altitude:          51.5356750000001
#   Commanded vehicle depth:  3742.236354 
#   Seafloor depth:           -3793.772029
# 
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 29
#   Segment length 106.014560 meters
#   Minimum depth: 3792.304166 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.035406 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.304166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998199;
longitude = -108.833812;
duration = 424;
initialDepth = 3736.777225;
finalDepth = 3742.304166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5356750000001
#   Actual altitude:          51.5356750000001
#   Commanded vehicle depth:  3742.304166 
#   Seafloor depth:           -3792.447179
# 
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 29
#   Segment length 100.540756 meters
#   Minimum depth: 3786.777225 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.847298 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.777225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997882;
longitude = -108.832829;
duration = 402;
initialDepth = 3732.331220;
finalDepth = 3736.777225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0700730000003
#   Actual altitude:          55.0700730000003
#   Commanded vehicle depth:  3736.777225 
#   Seafloor depth:           -3791.847298
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.887703 meters
#   Minimum depth: 3782.331220 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.472329 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.331220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997580;
longitude = -108.831897;
duration = 403;
initialDepth = 3732.063232;
finalDepth = 3732.331220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0700730000003
#   Actual altitude:          55.0700730000003
#   Commanded vehicle depth:  3732.33122 
#   Seafloor depth:           -3786.472329
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 110.068266 meters
#   Minimum depth: 3782.063232 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.581119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.063232 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997278;
longitude = -108.830962;
duration = 440;
initialDepth = 3733.671743;
finalDepth = 3732.063232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.1411090000001
#   Actual altitude:          54.1411090000001
#   Commanded vehicle depth:  3732.063232 
#   Seafloor depth:           -3782.193735
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.962819 meters
#   Minimum depth: 3783.671743 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.679986 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.671743 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996948;
longitude = -108.829942;
duration = 407;
initialDepth = 3736.127698;
finalDepth = 3733.671743;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1305029999999
#   Actual altitude:          50.1305029999999
#   Commanded vehicle depth:  3733.671743 
#   Seafloor depth:           -3783.671743
# 
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 29
#   Segment length 108.994295 meters
#   Minimum depth: 3786.127698 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.654989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.127698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996643;
longitude = -108.828997;
duration = 435;
initialDepth = 3733.484351;
finalDepth = 3736.127698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3736.127698 
#   Seafloor depth:           -3786.127698
# 
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 103.037947 meters
#   Minimum depth: 3783.484351 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.245103 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.484351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996316;
longitude = -108.827987;
duration = 412;
initialDepth = 3732.375228;
finalDepth = 3733.484351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7607520000001
#   Actual altitude:          52.7607520000001
#   Commanded vehicle depth:  3733.484351 
#   Seafloor depth:           -3786.245103
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 107.920312 meters
#   Minimum depth: 3782.375228 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.224389 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.375228 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996008;
longitude = -108.827032;
duration = 431;
initialDepth = 3732.428754;
finalDepth = 3732.375228;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7607520000001
#   Actual altitude:          52.7607520000001
#   Commanded vehicle depth:  3732.375228 
#   Seafloor depth:           -3783.224389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.621932 meters
#   Minimum depth: 3782.428754 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.610413 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.428754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.995684;
longitude = -108.826032;
duration = 402;
initialDepth = 3733.984009;
finalDepth = 3732.428754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.8491610000001
#   Actual altitude:          50.8491610000001
#   Commanded vehicle depth:  3732.428754 
#   Seafloor depth:           -3782.639782
# 
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;
}
# 
#######################################################
# 
# 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 148.711001 meters
#   Minimum depth: 3783.984009 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.730007 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.984009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.995383;
longitude = -108.825099;
duration = 594;
# abortOnTimeout    = True; 
initialDepth = 3732.371231;
finalDepth = 3733.984009;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.2110280000002
#   Actual altitude:          50.2110280000002
#   Commanded vehicle depth:  3733.984009 
#   Seafloor depth:           -3783.984009
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.11;
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 129.334556 meters
#   Minimum depth: 3782.371231 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.884521 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.371231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.994119;
longitude = -108.825591;
duration = 517;
# abortOnTimeout    = True; 
initialDepth = 3733.843180;
finalDepth = 3732.371231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5132899999999
#   Actual altitude:          51.5132899999999
#   Commanded vehicle depth:  3732.371231 
#   Seafloor depth:           -3783.884521
# 
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 27
#   Segment length 100.653006 meters
#   Minimum depth: 3783.843180 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.222710 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.843180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.994511;
longitude = -108.826788;
duration = 402;
initialDepth = 3735.034435;
finalDepth = 3733.843180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5132899999999
#   Actual altitude:          51.5132899999999
#   Commanded vehicle depth:  3733.84318 
#   Seafloor depth:           -3783.843180
# 
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 27
#   Segment length 108.017254 meters
#   Minimum depth: 3785.034435 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.138902 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.034435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.994816;
longitude = -108.827720;
duration = 432;
initialDepth = 3735.261536;
finalDepth = 3735.034435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1044670000001
#   Actual altitude:          52.1044670000001
#   Commanded vehicle depth:  3735.034435 
#   Seafloor depth:           -3787.138902
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 104.306794 meters
#   Minimum depth: 3785.261536 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.901615 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.261536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.995143;
longitude = -108.828720;
duration = 417;
initialDepth = 3736.731041;
finalDepth = 3735.261536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1044670000001
#   Actual altitude:          52.1044670000001
#   Commanded vehicle depth:  3735.261536 
#   Seafloor depth:           -3785.261536
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.161587 meters
#   Minimum depth: 3786.731041 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.924304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.731041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.995459;
longitude = -108.829685;
duration = 424;
initialDepth = 3735.195131;
finalDepth = 3736.731041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.1454410000001
#   Actual altitude:          50.1454410000001
#   Commanded vehicle depth:  3736.731041 
#   Seafloor depth:           -3786.876482
# 
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 27
#   Segment length 106.161294 meters
#   Minimum depth: 3785.195131 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.102232 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.195131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.995780;
longitude = -108.830668;
duration = 424;
initialDepth = 3734.922091;
finalDepth = 3735.195131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7483620000003
#   Actual altitude:          51.7483620000003
#   Commanded vehicle depth:  3735.195131 
#   Seafloor depth:           -3786.943493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.707464 meters
#   Minimum depth: 3784.922091 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.900300 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.922091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996102;
longitude = -108.831650;
duration = 402;
initialDepth = 3739.278951;
finalDepth = 3734.922091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7483620000003
#   Actual altitude:          51.7483620000003
#   Commanded vehicle depth:  3734.922091 
#   Seafloor depth:           -3784.956730
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 100.998193 meters
#   Minimum depth: 3789.278951 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.999908 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.278951 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996407;
longitude = -108.832582;
duration = 403;
initialDepth = 3743.222620;
finalDepth = 3739.278951;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.034639
#   Actual altitude:          50.034639
#   Commanded vehicle depth:  3739.278951 
#   Seafloor depth:           -3789.278951
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 107.668687 meters
#   Minimum depth: 3793.222620 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.794364 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3743.222620 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996713;
longitude = -108.833517;
duration = 430;
initialDepth = 3744.802687;
finalDepth = 3743.222620;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3743.22262 
#   Seafloor depth:           -3793.222620
# 
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 104.651919 meters
#   Minimum depth: 3794.802687 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.401027 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.802687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997039;
longitude = -108.834514;
duration = 418;
initialDepth = 3744.177294;
finalDepth = 3744.802687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3744.802687 
#   Seafloor depth:           -3794.802687
# 
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 106.159866 meters
#   Minimum depth: 3794.177294 meters looking forward 100.000000 meters along route
#   Maximum depth: 3795.377169 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.177294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997356;
longitude = -108.835482;
duration = 424;
initialDepth = 3744.173885;
finalDepth = 3744.177294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1998749999998
#   Actual altitude:          51.1998749999998
#   Commanded vehicle depth:  3744.177294 
#   Seafloor depth:           -3795.377169
# 
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 27
#   Segment length 106.159574 meters
#   Minimum depth: 3794.173885 meters looking forward 100.000000 meters along route
#   Maximum depth: 3796.298667 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.173885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997677;
longitude = -108.836465;
duration = 424;
initialDepth = 3746.673884;
finalDepth = 3744.173885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1998749999998
#   Actual altitude:          51.1998749999998
#   Commanded vehicle depth:  3744.173885 
#   Seafloor depth:           -3794.173885
# 
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 27
#   Segment length 100.359019 meters
#   Minimum depth: 3796.673884 meters looking forward 100.000000 meters along route
#   Maximum depth: 3798.758791 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3746.673884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997999;
longitude = -108.837448;
duration = 401;
initialDepth = 3748.814350;
finalDepth = 3746.673884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3746.673884 
#   Seafloor depth:           -3796.673884
# 
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 101.343369 meters
#   Minimum depth: 3798.814350 meters looking forward 100.000000 meters along route
#   Maximum depth: 3799.204792 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3748.814350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998303;
longitude = -108.838377;
duration = 405;
initialDepth = 3748.981312;
finalDepth = 3748.814350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3748.81435 
#   Seafloor depth:           -3798.814350
# 
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 107.320131 meters
#   Minimum depth: 3798.981312 meters looking forward 100.000000 meters along route
#   Maximum depth: 3799.143780 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3748.981312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998610;
longitude = -108.839315;
duration = 429;
initialDepth = 3749.151476;
finalDepth = 3748.981312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.140832
#   Actual altitude:          50.140832
#   Commanded vehicle depth:  3748.981312 
#   Seafloor depth:           -3799.122144
# 
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 27
#   Segment length 104.997035 meters
#   Minimum depth: 3799.151476 meters looking forward 100.000000 meters along route
#   Maximum depth: 3800.342239 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3749.151476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998935;
longitude = -108.840308;
duration = 419;
initialDepth = 3747.634233;
finalDepth = 3749.151476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.140832
#   Actual altitude:          50.140832
#   Commanded vehicle depth:  3749.151476 
#   Seafloor depth:           -3799.151476
# 
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 27
#   Segment length 106.158146 meters
#   Minimum depth: 3797.634233 meters looking forward 100.000000 meters along route
#   Maximum depth: 3800.624941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3747.634233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999253;
longitude = -108.841280;
duration = 424;
initialDepth = 3744.653996;
finalDepth = 3747.634233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8637589999998
#   Actual altitude:          52.8637589999998
#   Commanded vehicle depth:  3747.634233 
#   Seafloor depth:           -3800.497992
# 
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 27
#   Segment length 106.157854 meters
#   Minimum depth: 3794.653996 meters looking forward 100.000000 meters along route
#   Maximum depth: 3797.485031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3744.653996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999574;
longitude = -108.842263;
duration = 424;
initialDepth = 3742.111620;
finalDepth = 3744.653996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8637589999998
#   Actual altitude:          52.8637589999998
#   Commanded vehicle depth:  3744.653996 
#   Seafloor depth:           -3797.485031
# 
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 27
#   Segment length 106.157563 meters
#   Minimum depth: 3792.111620 meters looking forward 100.000000 meters along route
#   Maximum depth: 3794.593673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3742.111620 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999896;
longitude = -108.843245;
duration = 424;
initialDepth = 3740.534030;
finalDepth = 3742.111620;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8310350000002
#   Actual altitude:          52.8310350000002
#   Commanded vehicle depth:  3742.11162 
#   Seafloor depth:           -3794.593673
# 
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 27
#   Segment length 106.157272 meters
#   Minimum depth: 3790.534030 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.965660 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.534030 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000217;
longitude = -108.844228;
duration = 424;
initialDepth = 3739.907009;
finalDepth = 3740.534030;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4820529999997
#   Actual altitude:          52.4820529999997
#   Commanded vehicle depth:  3740.53403 
#   Seafloor depth:           -3791.965660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 106.156980 meters
#   Minimum depth: 3789.907009 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.755120 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.907009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000539;
longitude = -108.845210;
duration = 424;
initialDepth = 3740.219488;
finalDepth = 3739.907009;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.43163
#   Actual altitude:          51.43163
#   Commanded vehicle depth:  3739.907009 
#   Seafloor depth:           -3790.299975
# 
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 27
#   Segment length 106.156689 meters
#   Minimum depth: 3790.219488 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.106553 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.219488 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000861;
longitude = -108.846193;
duration = 424;
initialDepth = 3738.495276;
finalDepth = 3740.219488;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.687508
#   Actual altitude:          50.687508
#   Commanded vehicle depth:  3740.219488 
#   Seafloor depth:           -3790.906996
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.663742 meters
#   Minimum depth: 3788.495276 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.999277 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.495276 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001182;
longitude = -108.847176;
duration = 410;
initialDepth = 3738.554626;
finalDepth = 3738.495276;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.5040009999998
#   Actual altitude:          51.5040009999998
#   Commanded vehicle depth:  3738.495276 
#   Seafloor depth:           -3789.999277
# 
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;
}
# 
#######################################################
# 
# 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 177.190196 meters
#   Minimum depth: 3788.554626 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.961955 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.554626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001493;
longitude = -108.848126;
duration = 708;
# abortOnTimeout    = True; 
initialDepth = 3739.099760;
finalDepth = 3738.554626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5040009999998
#   Actual altitude:          51.5040009999998
#   Commanded vehicle depth:  3738.554626 
#   Seafloor depth:           -3788.554626
# 
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 26
#   Segment length 107.992188 meters
#   Minimum depth: 3789.099760 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.490714 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.099760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002998;
longitude = -108.847536;
duration = 431;
initialDepth = 3738.316043;
finalDepth = 3739.099760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0231749999998
#   Actual altitude:          52.0231749999998
#   Commanded vehicle depth:  3739.09976 
#   Seafloor depth:           -3791.122935
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 104.647158 meters
#   Minimum depth: 3788.316043 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.540750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.316043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003915;
longitude = -108.847176;
duration = 418;
initialDepth = 3739.732289;
finalDepth = 3738.316043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0231749999998
#   Actual altitude:          52.0231749999998
#   Commanded vehicle depth:  3738.316043 
#   Seafloor depth:           -3789.034290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 106.319592 meters
#   Minimum depth: 3789.732289 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.241390 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.732289 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004803;
longitude = -108.846827;
duration = 425;
initialDepth = 3740.304438;
finalDepth = 3739.732289;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7182470000002
#   Actual altitude:          50.7182470000002
#   Commanded vehicle depth:  3739.732289 
#   Seafloor depth:           -3789.732289
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 106.319537 meters
#   Minimum depth: 3790.304438 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.966122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.304438 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005706;
longitude = -108.846473;
duration = 425;
initialDepth = 3740.982688;
finalDepth = 3740.304438;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3740.304438 
#   Seafloor depth:           -3790.304438
# 
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 106.319483 meters
#   Minimum depth: 3790.982688 meters looking forward 100.000000 meters along route
#   Maximum depth: 3791.443883 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3740.982688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006609;
longitude = -108.846118;
duration = 425;
initialDepth = 3738.156716;
finalDepth = 3740.982688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3740.982688 
#   Seafloor depth:           -3790.982688
# 
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 107.185104 meters
#   Minimum depth: 3788.156716 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.995082 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.156716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007512;
longitude = -108.845764;
duration = 428;
initialDepth = 3738.509826;
finalDepth = 3738.156716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.838366
#   Actual altitude:          52.838366
#   Commanded vehicle depth:  3738.156716 
#   Seafloor depth:           -3790.995082
# 
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 26
#   Segment length 105.453699 meters
#   Minimum depth: 3788.509826 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.301016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.509826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008422;
longitude = -108.845407;
duration = 421;
initialDepth = 3739.061190;
finalDepth = 3738.509826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.838366
#   Actual altitude:          52.838366
#   Commanded vehicle depth:  3738.509826 
#   Seafloor depth:           -3788.509826
# 
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 26
#   Segment length 106.319319 meters
#   Minimum depth: 3789.061190 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.801882 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3739.061190 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009318;
longitude = -108.845056;
duration = 425;
initialDepth = 3738.088189;
finalDepth = 3739.061190;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7406920000003
#   Actual altitude:          50.7406920000003
#   Commanded vehicle depth:  3739.06119 
#   Seafloor depth:           -3789.801882
# 
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 26
#   Segment length 102.722897 meters
#   Minimum depth: 3788.088189 meters looking forward 100.000000 meters along route
#   Maximum depth: 3789.005480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.088189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010221;
longitude = -108.844701;
duration = 410;
initialDepth = 3738.100342;
finalDepth = 3738.088189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.9172909999998
#   Actual altitude:          50.9172909999998
#   Commanded vehicle depth:  3738.088189 
#   Seafloor depth:           -3789.005480
# 
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 25
#   Segment length 177.253578 meters
#   Minimum depth: 3788.100342 meters looking forward 100.000000 meters along route
#   Maximum depth: 3790.007279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.100342 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011093;
longitude = -108.844359;
duration = 709;
# abortOnTimeout    = True; 
initialDepth = 3737.161332;
finalDepth = 3738.100342;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9172909999998
#   Actual altitude:          50.9172909999998
#   Commanded vehicle depth:  3738.100342 
#   Seafloor depth:           -3788.100342
# 
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 25
#   Segment length 106.361748 meters
#   Minimum depth: 3787.161332 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.245035 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3737.161332 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011638;
longitude = -108.845997;
duration = 425;
initialDepth = 3738.475092;
finalDepth = 3737.161332;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6994970000001
#   Actual altitude:          50.6994970000001
#   Commanded vehicle depth:  3737.161332 
#   Seafloor depth:           -3787.860829
# 
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 25
#   Segment length 107.828249 meters
#   Minimum depth: 3788.475092 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.846537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3738.475092 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011966;
longitude = -108.846979;
duration = 431;
initialDepth = 3736.424822;
finalDepth = 3738.475092;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6994970000001
#   Actual altitude:          50.6994970000001
#   Commanded vehicle depth:  3738.475092 
#   Seafloor depth:           -3788.475092
# 
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 25
#   Segment length 104.894363 meters
#   Minimum depth: 3786.424822 meters looking forward 100.000000 meters along route
#   Maximum depth: 3788.721806 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.424822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012297;
longitude = -108.847975;
duration = 419;
initialDepth = 3735.880249;
finalDepth = 3736.424822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2969840000001
#   Actual altitude:          52.2969840000001
#   Commanded vehicle depth:  3736.424822 
#   Seafloor depth:           -3788.721806
# 
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 25
#   Segment length 100.535988 meters
#   Minimum depth: 3785.880249 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.752847 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3735.880249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012620;
longitude = -108.848944;
duration = 402;
initialDepth = 3736.760077;
finalDepth = 3735.880249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2969840000001
#   Actual altitude:          52.2969840000001
#   Commanded vehicle depth:  3735.880249 
#   Seafloor depth:           -3786.154040
# 
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 25
#   Segment length 101.549399 meters
#   Minimum depth: 3786.760077 meters looking forward 100.000000 meters along route
#   Maximum depth: 3787.463721 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.760077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012929;
longitude = -108.849873;
duration = 406;
initialDepth = 3733.065768;
finalDepth = 3736.760077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2737910000001
#   Actual altitude:          50.2737910000001
#   Commanded vehicle depth:  3736.760077 
#   Seafloor depth:           -3786.760077
# 
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 25
#   Segment length 106.360302 meters
#   Minimum depth: 3783.065768 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.577616 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3733.065768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013242;
longitude = -108.850811;
duration = 425;
initialDepth = 3732.935261;
finalDepth = 3733.065768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5118480000001
#   Actual altitude:          53.5118480000001
#   Commanded vehicle depth:  3733.065768 
#   Seafloor depth:           -3786.577616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.360007 meters
#   Minimum depth: 3782.935261 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.051841 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.935261 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013569;
longitude = -108.851794;
duration = 425;
initialDepth = 3734.967026;
finalDepth = 3732.935261;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5118480000001
#   Actual altitude:          53.5118480000001
#   Commanded vehicle depth:  3732.935261 
#   Seafloor depth:           -3783.022882
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 106.359713 meters
#   Minimum depth: 3784.967026 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.861818 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.967026 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013896;
longitude = -108.852777;
duration = 425;
initialDepth = 3732.548867;
finalDepth = 3734.967026;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3824100000002
#   Actual altitude:          50.3824100000002
#   Commanded vehicle depth:  3734.967026 
#   Seafloor depth:           -3785.349436
# 
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 25
#   Segment length 107.614997 meters
#   Minimum depth: 3782.548867 meters looking forward 100.000000 meters along route
#   Maximum depth: 3784.856547 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3732.548867 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014223;
longitude = -108.853759;
duration = 430;
initialDepth = 3729.360905;
finalDepth = 3732.548867;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3076799999999
#   Actual altitude:          52.3076799999999
#   Commanded vehicle depth:  3732.548867 
#   Seafloor depth:           -3784.856547
# 
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 25
#   Segment length 105.103542 meters
#   Minimum depth: 3779.360905 meters looking forward 100.000000 meters along route
#   Maximum depth: 3782.469934 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.360905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014554;
longitude = -108.854754;
duration = 420;
initialDepth = 3729.251389;
finalDepth = 3729.360905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1090290000002
#   Actual altitude:          53.1090290000002
#   Commanded vehicle depth:  3729.360905 
#   Seafloor depth:           -3782.469934
# 
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 25
#   Segment length 106.358827 meters
#   Minimum depth: 3779.251389 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.815279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.251389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014878;
longitude = -108.855725;
duration = 425;
initialDepth = 3730.051327;
finalDepth = 3729.251389;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1090290000002
#   Actual altitude:          53.1090290000002
#   Commanded vehicle depth:  3729.251389 
#   Seafloor depth:           -3779.251389
# 
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 25
#   Segment length 106.358533 meters
#   Minimum depth: 3780.051327 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.120839 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.051327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015205;
longitude = -108.856707;
duration = 425;
initialDepth = 3730.502421;
finalDepth = 3730.051327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3730.051327 
#   Seafloor depth:           -3780.051327
# 
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 25
#   Segment length 102.812967 meters
#   Minimum depth: 3780.502421 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.155713 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3730.502421 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015532;
longitude = -108.857690;
duration = 411;
initialDepth = 3721.781165;
finalDepth = 3730.502421;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.653292
#   Actual altitude:          55.653292
#   Commanded vehicle depth:  3730.502421 
#   Seafloor depth:           -3786.155713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 125.198150 meters
#   Minimum depth: 3771.781165 meters looking forward 100.000000 meters along route
#   Maximum depth: 3786.948446 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3721.781165 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.015849;
longitude = -108.858640;
duration = 500;
# abortOnTimeout    = True; 
initialDepth = 3734.763532;
finalDepth = 3721.781165;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2295770000001
#   Actual altitude:          58.2295770000001
#   Commanded vehicle depth:  3721.781165 
#   Seafloor depth:           -3780.010742
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 101.512014 meters
#   Minimum depth: 3784.763532 meters looking forward 100.000000 meters along route
#   Maximum depth: 3792.410385 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3734.763532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.014735;
longitude = -108.858850;
duration = 406;
initialDepth = 3729.284638;
finalDepth = 3734.763532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2295770000001
#   Actual altitude:          58.2295770000001
#   Commanded vehicle depth:  3734.763532 
#   Seafloor depth:           -3789.127088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 104.895749 meters
#   Minimum depth: 3779.284638 meters looking forward 100.000000 meters along route
#   Maximum depth: 3783.496946 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3729.284638 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.013832;
longitude = -108.859020;
duration = 419;
initialDepth = 3723.232740;
finalDepth = 3729.284638;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.3635560000002
#   Actual altitude:          54.3635560000002
#   Commanded vehicle depth:  3729.284638 
#   Seafloor depth:           -3783.496946
# 
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;
}
# 
#######################################################
# 
# 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 151.011559 meters
#   Minimum depth: 3773.232740 meters looking forward 100.000000 meters along route
#   Maximum depth: 3779.061198 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.232740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.012899;
longitude = -108.859196;
duration = 604;
# abortOnTimeout    = True; 
initialDepth = 3724.178955;
finalDepth = 3723.232740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.828458
#   Actual altitude:          55.828458
#   Commanded vehicle depth:  3723.23274 
#   Seafloor depth:           -3779.061198
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.962447 meters
#   Minimum depth: 3774.178955 meters looking forward 100.000000 meters along route
#   Maximum depth: 3793.226928 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3724.178955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.011575;
longitude = -108.859549;
duration = 411;
initialDepth = 3736.457769;
finalDepth = 3724.178955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.828458
#   Actual altitude:          55.828458
#   Commanded vehicle depth:  3724.178955 
#   Seafloor depth:           -3774.178955
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.962463 meters
#   Minimum depth: 3786.457769 meters looking forward 100.000000 meters along route
#   Maximum depth: 3796.101599 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3736.457769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.010672;
longitude = -108.859789;
duration = 411;
initialDepth = 3728.759637;
finalDepth = 3736.457769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.058086
#   Actual altitude:          58.058086
#   Commanded vehicle depth:  3736.457769 
#   Seafloor depth:           -3794.515855
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 106.394562 meters
#   Minimum depth: 3778.759637 meters looking forward 100.000000 meters along route
#   Maximum depth: 3785.114393 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3728.759637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.009769;
longitude = -108.860029;
duration = 425;
initialDepth = 3723.748537;
finalDepth = 3728.759637;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.058086
#   Actual altitude:          58.058086
#   Commanded vehicle depth:  3728.759637 
#   Seafloor depth:           -3785.114393
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.03;
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 104.101935 meters
#   Minimum depth: 3773.748537 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.485026 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3723.748537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.008836;
longitude = -108.860277;
duration = 416;
# abortOnTimeout    = True; 
initialDepth = 3722.958990;
finalDepth = 3723.748537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3547559999997
#   Actual altitude:          56.3547559999997
#   Commanded vehicle depth:  3723.748537 
#   Seafloor depth:           -3778.485026
# 
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 22
#   Segment length 106.069191 meters
#   Minimum depth: 3772.958990 meters looking forward 100.000000 meters along route
#   Maximum depth: 3775.548455 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3722.958990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007957;
longitude = -108.860638;
duration = 424;
initialDepth = 3726.061001;
finalDepth = 3722.958990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7364889999999
#   Actual altitude:          54.7364889999999
#   Commanded vehicle depth:  3722.95899 
#   Seafloor depth:           -3773.742720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 106.866764 meters
#   Minimum depth: 3776.061001 meters looking forward 100.000000 meters along route
#   Maximum depth: 3778.521709 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3726.061001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.007061;
longitude = -108.861005;
duration = 427;
initialDepth = 3719.904246;
finalDepth = 3726.061001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7837300000001
#   Actual altitude:          50.7837300000001
#   Commanded vehicle depth:  3726.061001 
#   Seafloor depth:           -3776.061001
# 
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 22
#   Segment length 106.866824 meters
#   Minimum depth: 3769.904246 meters looking forward 100.000000 meters along route
#   Maximum depth: 3776.732056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3719.904246 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.006158;
longitude = -108.861375;
duration = 427;
initialDepth = 3705.000911;
finalDepth = 3719.904246;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8278099999998
#   Actual altitude:          56.8278099999998
#   Commanded vehicle depth:  3719.904246 
#   Seafloor depth:           -3776.732056
# 
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 22
#   Segment length 106.866886 meters
#   Minimum depth: 3755.000911 meters looking forward 100.000000 meters along route
#   Maximum depth: 3768.342599 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3705.000911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.005255;
longitude = -108.861745;
duration = 427;
initialDepth = 3686.824858;
finalDepth = 3705.000911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.341688
#   Actual altitude:          63.341688
#   Commanded vehicle depth:  3705.000911 
#   Seafloor depth:           -3768.342599
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 103.304714 meters
#   Minimum depth: 3736.824858 meters looking forward 100.000000 meters along route
#   Maximum depth: 3754.946104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3686.824858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.004352;
longitude = -108.862114;
duration = 413;
initialDepth = 3685.251311;
finalDepth = 3686.824858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       68.1212460000002
#   Actual altitude:          68.1212460000002
#   Commanded vehicle depth:  3686.824858 
#   Seafloor depth:           -3754.946104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 107.340735 meters
#   Minimum depth: 3735.251311 meters looking forward 100.000000 meters along route
#   Maximum depth: 3737.201464 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3685.251311 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.003479;
longitude = -108.862472;
duration = 429;
# abortOnTimeout    = True; 
initialDepth = 3678.032888;
finalDepth = 3685.251311;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.1212460000002
#   Actual altitude:          68.1212460000002
#   Commanded vehicle depth:  3685.251311 
#   Seafloor depth:           -3735.367513
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 107.383376 meters
#   Minimum depth: 3728.032888 meters looking forward 100.000000 meters along route
#   Maximum depth: 3736.501284 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3678.032888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.002607;
longitude = -108.862013;
duration = 429;
initialDepth = 3678.350387;
finalDepth = 3678.032888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.4683959999998
#   Actual altitude:          58.4683959999998
#   Commanded vehicle depth:  3678.032888 
#   Seafloor depth:           -3736.501284
# 
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 21
#   Segment length 107.351274 meters
#   Minimum depth: 3728.350387 meters looking forward 100.000000 meters along route
#   Maximum depth: 3734.366326 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3678.350387 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.001734;
longitude = -108.861555;
duration = 429;
initialDepth = 3677.757634;
finalDepth = 3678.350387;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.4683959999998
#   Actual altitude:          58.4683959999998
#   Commanded vehicle depth:  3678.350387 
#   Seafloor depth:           -3728.350387
# 
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;
}
# 
#######################################################
# 
# 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 139.569090 meters
#   Minimum depth: 3727.757634 meters looking forward 100.000000 meters along route
#   Maximum depth: 3735.486511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3677.757634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 24.000861;
longitude = -108.861096;
duration = 558;
# abortOnTimeout    = True; 
initialDepth = 3676.496196;
finalDepth = 3677.757634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.728877
#   Actual altitude:          57.728877
#   Commanded vehicle depth:  3677.757634 
#   Seafloor depth:           -3735.486511
# 
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 20
#   Segment length 100.783603 meters
#   Minimum depth: 3726.496196 meters looking forward 100.000000 meters along route
#   Maximum depth: 3727.976587 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3676.496196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.999638;
longitude = -108.861424;
duration = 403;
initialDepth = 3676.961497;
finalDepth = 3676.496196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.728877
#   Actual altitude:          57.728877
#   Commanded vehicle depth:  3676.496196 
#   Seafloor depth:           -3727.976587
# 
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 20
#   Segment length 103.003947 meters
#   Minimum depth: 3726.961497 meters looking forward 100.000000 meters along route
#   Maximum depth: 3731.736031 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3676.961497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.998754;
longitude = -108.861660;
duration = 412;
initialDepth = 3682.961719;
finalDepth = 3676.961497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4803910000001
#   Actual altitude:          51.4803910000001
#   Commanded vehicle depth:  3676.961497 
#   Seafloor depth:           -3726.961497
# 
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 20
#   Segment length 103.003965 meters
#   Minimum depth: 3732.961719 meters looking forward 100.000000 meters along route
#   Maximum depth: 3740.355730 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3682.961719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.997851;
longitude = -108.861902;
duration = 412;
initialDepth = 3690.005583;
finalDepth = 3682.961719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3682.961719 
#   Seafloor depth:           -3732.961719
# 
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 103.003981 meters
#   Minimum depth: 3740.005583 meters looking forward 100.000000 meters along route
#   Maximum depth: 3748.615383 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3690.005583 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996948;
longitude = -108.862144;
duration = 412;
initialDepth = 3696.401280;
finalDepth = 3690.005583;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0710279999998
#   Actual altitude:          50.0710279999998
#   Commanded vehicle depth:  3690.005583 
#   Seafloor depth:           -3740.076611
# 
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 20
#   Segment length 106.395683 meters
#   Minimum depth: 3746.401280 meters looking forward 100.000000 meters along route
#   Maximum depth: 3750.113346 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3696.401280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.996046;
longitude = -108.862386;
duration = 425;
initialDepth = 3696.768799;
finalDepth = 3696.401280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.1656149999999
#   Actual altitude:          53.1656149999999
#   Commanded vehicle depth:  3696.40128 
#   Seafloor depth:           -3749.566895
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.58;
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 115.209397 meters
#   Minimum depth: 3746.768799 meters looking forward 100.000000 meters along route
#   Maximum depth: 3756.885139 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3696.768799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.995113;
longitude = -108.862636;
duration = 460;
# abortOnTimeout    = True; 
initialDepth = 3706.097113;
finalDepth = 3696.768799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1656149999999
#   Actual altitude:          53.1656149999999
#   Commanded vehicle depth:  3696.768799 
#   Seafloor depth:           -3746.768799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 107.967828 meters
#   Minimum depth: 3756.097113 meters looking forward 100.000000 meters along route
#   Maximum depth: 3758.193693 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3706.097113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.994150;
longitude = -108.863062;
duration = 431;
initialDepth = 3704.972316;
finalDepth = 3706.097113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1863680000001
#   Actual altitude:          51.1863680000001
#   Commanded vehicle depth:  3706.097113 
#   Seafloor depth:           -3757.283481
# 
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 19
#   Segment length 104.360121 meters
#   Minimum depth: 3754.972316 meters looking forward 100.000000 meters along route
#   Maximum depth: 3758.051632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3704.972316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.993247;
longitude = -108.863462;
duration = 417;
initialDepth = 3705.390784;
finalDepth = 3704.972316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.1863680000001
#   Actual altitude:          51.1863680000001
#   Commanded vehicle depth:  3704.972316 
#   Seafloor depth:           -3755.479186
# 
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;
}
# 
#######################################################
# 
# 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 85.384602 meters
#   Minimum depth: 3755.390784 meters looking forward 100.000000 meters along route
#   Maximum depth: 3758.150757 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3705.390784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.992374;
longitude = -108.863848;
duration = 341;
# abortOnTimeout    = True; 
initialDepth = 3698.231255;
finalDepth = 3705.390784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7599729999997
#   Actual altitude:          52.7599729999997
#   Commanded vehicle depth:  3705.390784 
#   Seafloor depth:           -3758.150757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 102.891177 meters
#   Minimum depth: 3748.231255 meters looking forward 100.000000 meters along route
#   Maximum depth: 3755.089870 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3698.231255 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.991664;
longitude = -108.864175;
duration = 411;
initialDepth = 3697.537330;
finalDepth = 3698.231255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8586149999996
#   Actual altitude:          56.8586149999996
#   Commanded vehicle depth:  3698.231255 
#   Seafloor depth:           -3755.089870
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 102.298197 meters
#   Minimum depth: 3747.537330 meters looking forward 100.000000 meters along route
#   Maximum depth: 3750.149113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3697.537330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.990809;
longitude = -108.864569;
duration = 409;
initialDepth = 3692.237719;
finalDepth = 3697.537330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8586149999996
#   Actual altitude:          56.8586149999996
#   Commanded vehicle depth:  3697.53733 
#   Seafloor depth:           -3748.733936
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 104.071544 meters
#   Minimum depth: 3742.237719 meters looking forward 100.000000 meters along route
#   Maximum depth: 3747.386853 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3692.237719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.989959;
longitude = -108.864961;
duration = 416;
initialDepth = 3686.360999;
finalDepth = 3692.237719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.1491339999998
#   Actual altitude:          55.1491339999998
#   Commanded vehicle depth:  3692.237719 
#   Seafloor depth:           -3747.386853
# 
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 18
#   Segment length 101.118118 meters
#   Minimum depth: 3736.360999 meters looking forward 100.000000 meters along route
#   Maximum depth: 3742.163843 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3686.360999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.989093;
longitude = -108.865360;
duration = 404;
initialDepth = 3670.412586;
finalDepth = 3686.360999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.8028439999998
#   Actual altitude:          55.8028439999998
#   Commanded vehicle depth:  3686.360999 
#   Seafloor depth:           -3742.163843
# 
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 18
#   Segment length 105.251913 meters
#   Minimum depth: 3720.412586 meters looking forward 100.000000 meters along route
#   Maximum depth: 3736.023453 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3670.412586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.988253;
longitude = -108.865747;
duration = 421;
initialDepth = 3663.025960;
finalDepth = 3670.412586;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.6108669999999
#   Actual altitude:          65.6108669999999
#   Commanded vehicle depth:  3670.412586 
#   Seafloor depth:           -3736.023453
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 108.615923 meters
#   Minimum depth: 3713.025960 meters looking forward 100.000000 meters along route
#   Maximum depth: 3719.945995 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3663.025960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.987378;
longitude = -108.866151;
duration = 434;
initialDepth = 3659.496424;
finalDepth = 3663.025960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.6108669999999
#   Actual altitude:          65.6108669999999
#   Commanded vehicle depth:  3663.02596 
#   Seafloor depth:           -3719.945995
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 108.616003 meters
#   Minimum depth: 3709.496424 meters looking forward 100.000000 meters along route
#   Maximum depth: 3712.798409 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3659.496424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.986475;
longitude = -108.866567;
duration = 434;
initialDepth = 3650.964825;
finalDepth = 3659.496424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.9200350000001
#   Actual altitude:          56.9200350000001
#   Commanded vehicle depth:  3659.496424 
#   Seafloor depth:           -3712.798409
# 
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 18
#   Segment length 104.995546 meters
#   Minimum depth: 3700.964825 meters looking forward 100.000000 meters along route
#   Maximum depth: 3709.035301 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3650.964825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.985572;
longitude = -108.866983;
duration = 419;
initialDepth = 3645.615496;
finalDepth = 3650.964825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.0704759999999
#   Actual altitude:          58.0704759999999
#   Commanded vehicle depth:  3650.964825 
#   Seafloor depth:           -3709.035301
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.04;
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 94.244696 meters
#   Minimum depth: 3695.615496 meters looking forward 100.000000 meters along route
#   Maximum depth: 3700.053711 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3645.615496 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.984700;
longitude = -108.867385;
duration = 376;
# abortOnTimeout    = True; 
initialDepth = 3640.689170;
finalDepth = 3645.615496;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0704759999999
#   Actual altitude:          58.0704759999999
#   Commanded vehicle depth:  3645.615496 
#   Seafloor depth:           -3700.053711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.976454 meters
#   Minimum depth: 3690.689170 meters looking forward 100.000000 meters along route
#   Maximum depth: 3695.575782 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3640.689170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.983857;
longitude = -108.867512;
duration = 403;
initialDepth = 3632.954840;
finalDepth = 3640.689170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.8866119999998
#   Actual altitude:          54.8866119999998
#   Commanded vehicle depth:  3640.68917 
#   Seafloor depth:           -3695.575782
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.976449 meters
#   Minimum depth: 3682.954840 meters looking forward 100.000000 meters along route
#   Maximum depth: 3689.948135 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3632.954840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.982954;
longitude = -108.867649;
duration = 403;
initialDepth = 3631.952735;
finalDepth = 3632.954840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.9932950000002
#   Actual altitude:          56.9932950000002
#   Commanded vehicle depth:  3632.95484 
#   Seafloor depth:           -3689.948135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.976445 meters
#   Minimum depth: 3681.952735 meters looking forward 100.000000 meters along route
#   Maximum depth: 3685.630380 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3631.952735 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.982051;
longitude = -108.867785;
duration = 403;
initialDepth = 3636.588483;
finalDepth = 3631.952735;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.9932950000002
#   Actual altitude:          56.9932950000002
#   Commanded vehicle depth:  3631.952735 
#   Seafloor depth:           -3682.474005
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.976439 meters
#   Minimum depth: 3686.588483 meters looking forward 100.000000 meters along route
#   Maximum depth: 3694.873535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3636.588483 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.981148;
longitude = -108.867921;
duration = 403;
initialDepth = 3645.295226;
finalDepth = 3636.588483;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5212700000002
#   Actual altitude:          50.5212700000002
#   Commanded vehicle depth:  3636.588483 
#   Seafloor depth:           -3686.588483
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.976434 meters
#   Minimum depth: 3695.295226 meters looking forward 100.000000 meters along route
#   Maximum depth: 3700.826557 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3645.295226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.980245;
longitude = -108.868058;
duration = 403;
initialDepth = 3651.742150;
finalDepth = 3645.295226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3645.295226 
#   Seafloor depth:           -3695.295226
# 
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 104.342310 meters
#   Minimum depth: 3701.742150 meters looking forward 100.000000 meters along route
#   Maximum depth: 3707.282278 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3651.742150 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.979342;
longitude = -108.868194;
duration = 417;
initialDepth = 3657.383789;
finalDepth = 3651.742150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3651.74215 
#   Seafloor depth:           -3701.742150
# 
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 150.612040 meters
#   Minimum depth: 3707.383789 meters looking forward 100.000000 meters along route
#   Maximum depth: 3712.844587 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3657.383789 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.978410;
longitude = -108.868335;
duration = 602;
# abortOnTimeout    = True; 
initialDepth = 3661.428447;
finalDepth = 3657.383789;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3657.383789 
#   Seafloor depth:           -3707.383789
# 
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 16
#   Segment length 106.314466 meters
#   Minimum depth: 3711.428447 meters looking forward 100.000000 meters along route
#   Maximum depth: 3713.948333 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3661.428447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.977150;
longitude = -108.868892;
duration = 425;
initialDepth = 3654.500833;
finalDepth = 3661.428447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.550702
#   Actual altitude:          51.550702
#   Commanded vehicle depth:  3661.428447 
#   Seafloor depth:           -3712.979149
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 106.517528 meters
#   Minimum depth: 3704.500833 meters looking forward 100.000000 meters along route
#   Maximum depth: 3711.338448 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3654.500833 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.976261;
longitude = -108.869285;
duration = 426;
initialDepth = 3638.332240;
finalDepth = 3654.500833;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8376149999999
#   Actual altitude:          56.8376149999999
#   Commanded vehicle depth:  3654.500833 
#   Seafloor depth:           -3711.338448
# 
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 16
#   Segment length 107.953832 meters
#   Minimum depth: 3688.332240 meters looking forward 100.000000 meters along route
#   Maximum depth: 3704.482386 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3638.332240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.975370;
longitude = -108.869679;
duration = 431;
initialDepth = 3634.951229;
finalDepth = 3638.332240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.1501459999999
#   Actual altitude:          66.1501459999999
#   Commanded vehicle depth:  3638.33224 
#   Seafloor depth:           -3704.482386
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 105.576907 meters
#   Minimum depth: 3684.951229 meters looking forward 100.000000 meters along route
#   Maximum depth: 3688.065541 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3634.951229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.974467;
longitude = -108.870078;
duration = 422;
initialDepth = 3587.753744;
finalDepth = 3634.951229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       66.1501459999999
#   Actual altitude:          66.1501459999999
#   Commanded vehicle depth:  3634.951229 
#   Seafloor depth:           -3688.065541
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 174.484111 meters
#   Minimum depth: 3637.753744 meters looking forward 100.000000 meters along route
#   Maximum depth: 3684.405396 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3587.753744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.973584;
longitude = -108.870468;
duration = 697;
# abortOnTimeout    = True; 
initialDepth = 3587.364305;
finalDepth = 3587.753744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.651652
#   Actual altitude:          96.651652
#   Commanded vehicle depth:  3587.753744 
#   Seafloor depth:           -3684.405396
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.387719 meters
#   Minimum depth: 3637.364305 meters looking forward 100.000000 meters along route
#   Maximum depth: 3643.580642 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3587.364305 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.973247;
longitude = -108.868793;
duration = 409;
initialDepth = 3594.401404;
finalDepth = 3587.364305;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       96.651652
#   Actual altitude:          96.651652
#   Commanded vehicle depth:  3587.364305 
#   Seafloor depth:           -3637.364305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.387922 meters
#   Minimum depth: 3644.401404 meters looking forward 100.000000 meters along route
#   Maximum depth: 3655.320480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3594.401404 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.973050;
longitude = -108.867811;
duration = 409;
initialDepth = 3606.738741;
finalDepth = 3594.401404;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3594.401404 
#   Seafloor depth:           -3644.401404
# 
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 102.388126 meters
#   Minimum depth: 3656.738741 meters looking forward 100.000000 meters along route
#   Maximum depth: 3670.641906 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3606.738741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.972852;
longitude = -108.866828;
duration = 409;
initialDepth = 3621.263109;
finalDepth = 3606.738741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3606.738741 
#   Seafloor depth:           -3656.738741
# 
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 102.388331 meters
#   Minimum depth: 3671.263109 meters looking forward 100.000000 meters along route
#   Maximum depth: 3687.026422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3621.263109 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.972655;
longitude = -108.865846;
duration = 409;
initialDepth = 3635.488996;
finalDepth = 3621.263109;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3621.263109 
#   Seafloor depth:           -3671.263109
# 
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 102.388534 meters
#   Minimum depth: 3685.488996 meters looking forward 100.000000 meters along route
#   Maximum depth: 3687.580022 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3635.488996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.972457;
longitude = -108.864863;
duration = 409;
initialDepth = 3630.719896;
finalDepth = 3635.488996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.953403
#   Actual altitude:          51.953403
#   Commanded vehicle depth:  3635.488996 
#   Seafloor depth:           -3687.442399
# 
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 15
#   Segment length 102.388738 meters
#   Minimum depth: 3680.719896 meters looking forward 100.000000 meters along route
#   Maximum depth: 3685.124962 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3630.719896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.972260;
longitude = -108.863880;
duration = 409;
initialDepth = 3625.461987;
finalDepth = 3630.719896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.4050659999998
#   Actual altitude:          54.4050659999998
#   Commanded vehicle depth:  3630.719896 
#   Seafloor depth:           -3685.124962
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 108.023986 meters
#   Minimum depth: 3675.461987 meters looking forward 100.000000 meters along route
#   Maximum depth: 3679.914197 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3625.461987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.972062;
longitude = -108.862898;
duration = 432;
initialDepth = 3624.870679;
finalDepth = 3625.461987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.4522099999999
#   Actual altitude:          54.4522099999999
#   Commanded vehicle depth:  3625.461987 
#   Seafloor depth:           -3679.914197
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
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 149.896297 meters
#   Minimum depth: 3674.870679 meters looking forward 100.000000 meters along route
#   Maximum depth: 3683.647035 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3624.870679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.971854;
longitude = -108.861861;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 3632.001113;
finalDepth = 3624.870679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.4522099999999
#   Actual altitude:          54.4522099999999
#   Commanded vehicle depth:  3624.870679 
#   Seafloor depth:           -3676.755493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.23;
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 75.303728 meters
#   Minimum depth: 3682.001113 meters looking forward 100.000000 meters along route
#   Maximum depth: 3685.326294 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3632.001113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970532;
longitude = -108.862175;
duration = 301;
# abortOnTimeout    = True; 
initialDepth = 3635.306232;
finalDepth = 3632.001113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3663190000002
#   Actual altitude:          52.3663190000002
#   Commanded vehicle depth:  3632.001113 
#   Seafloor depth:           -3684.367432
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.386539 meters
#   Minimum depth: 3685.306232 meters looking forward 100.000000 meters along route
#   Maximum depth: 3685.786057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3635.306232 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970677;
longitude = -108.862898;
duration = 409;
initialDepth = 3622.238063;
finalDepth = 3635.306232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3663190000002
#   Actual altitude:          52.3663190000002
#   Commanded vehicle depth:  3635.306232 
#   Seafloor depth:           -3685.332610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.386335 meters
#   Minimum depth: 3672.238063 meters looking forward 100.000000 meters along route
#   Maximum depth: 3685.380536 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3622.238063 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970875;
longitude = -108.863880;
duration = 409;
initialDepth = 3594.617545;
finalDepth = 3622.238063;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.1424730000003
#   Actual altitude:          63.1424730000003
#   Commanded vehicle depth:  3622.238063 
#   Seafloor depth:           -3685.380536
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.386132 meters
#   Minimum depth: 3644.617545 meters looking forward 100.000000 meters along route
#   Maximum depth: 3669.684364 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3594.617545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.971072;
longitude = -108.864863;
duration = 409;
initialDepth = 3570.998701;
finalDepth = 3594.617545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.0668190000001
#   Actual altitude:          75.0668190000001
#   Commanded vehicle depth:  3594.617545 
#   Seafloor depth:           -3669.684364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.385927 meters
#   Minimum depth: 3620.998701 meters looking forward 100.000000 meters along route
#   Maximum depth: 3641.979929 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3570.998701 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.971269;
longitude = -108.865846;
duration = 409;
initialDepth = 3556.652348;
finalDepth = 3570.998701;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       75.0668190000001
#   Actual altitude:          75.0668190000001
#   Commanded vehicle depth:  3570.998701 
#   Seafloor depth:           -3641.979929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 104.502628 meters
#   Minimum depth: 3606.652348 meters looking forward 100.000000 meters along route
#   Maximum depth: 3619.413735 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3556.652348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.971467;
longitude = -108.866828;
duration = 418;
initialDepth = 3554.727373;
finalDepth = 3556.652348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.9812280000001
#   Actual altitude:          70.9812280000001
#   Commanded vehicle depth:  3556.652348 
#   Seafloor depth:           -3619.413735
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.268615 meters
#   Minimum depth: 3604.727373 meters looking forward 100.000000 meters along route
#   Maximum depth: 3608.780559 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3554.727373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.971668;
longitude = -108.867831;
duration = 401;
initialDepth = 3559.647587;
finalDepth = 3554.727373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.761387
#   Actual altitude:          62.761387
#   Commanded vehicle depth:  3554.727373 
#   Seafloor depth:           -3606.494778
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.385316 meters
#   Minimum depth: 3609.647587 meters looking forward 100.000000 meters along route
#   Maximum depth: 3630.773902 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3559.647587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.971861;
longitude = -108.868793;
duration = 409;
initialDepth = 3583.992077;
finalDepth = 3559.647587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7674050000001
#   Actual altitude:          51.7674050000001
#   Commanded vehicle depth:  3559.647587 
#   Seafloor depth:           -3609.647587
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 25.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 104.916610 meters
#   Minimum depth: 3633.992077 meters looking forward 100.000000 meters along route
#   Maximum depth: 3662.892223 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3583.992077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.972059;
longitude = -108.869776;
duration = 419;
initialDepth = 3596.733794;
finalDepth = 3583.992077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3583.992077 
#   Seafloor depth:           -3633.992077
# 
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 12
#   Segment length 150.025508 meters
#   Minimum depth: 3646.733794 meters looking forward 100.000000 meters along route
#   Maximum depth: 3662.699646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3596.733794 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.972261;
longitude = -108.870783;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 3582.531202;
finalDepth = 3596.733794;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       65.9658519999998
#   Actual altitude:          65.9658519999998
#   Commanded vehicle depth:  3596.733794 
#   Seafloor depth:           -3662.699646
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.98;
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 11
#   Segment length 76.307839 meters
#   Minimum depth: 3632.531202 meters looking forward 100.000000 meters along route
#   Maximum depth: 3647.982803 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3582.531202 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970938;
longitude = -108.871098;
duration = 305;
# abortOnTimeout    = True; 
initialDepth = 3558.163376;
finalDepth = 3582.531202;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.9658519999998
#   Actual altitude:          65.9658519999998
#   Commanded vehicle depth:  3582.531202 
#   Seafloor depth:           -3646.306335
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.386239 meters
#   Minimum depth: 3608.163376 meters looking forward 100.000000 meters along route
#   Maximum depth: 3629.579374 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3558.163376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970791;
longitude = -108.870366;
duration = 409;
initialDepth = 3531.416248;
finalDepth = 3558.163376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.4159979999999
#   Actual altitude:          71.4159979999999
#   Commanded vehicle depth:  3558.163376 
#   Seafloor depth:           -3629.579374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.386443 meters
#   Minimum depth: 3581.416248 meters looking forward 100.000000 meters along route
#   Maximum depth: 3605.667310 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3531.416248 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970594;
longitude = -108.869383;
duration = 409;
initialDepth = 3523.867330;
finalDepth = 3531.416248;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.2510619999998
#   Actual altitude:          74.2510619999998
#   Commanded vehicle depth:  3531.416248 
#   Seafloor depth:           -3605.667310
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.386648 meters
#   Minimum depth: 3573.867330 meters looking forward 100.000000 meters along route
#   Maximum depth: 3580.598539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3523.867330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970396;
longitude = -108.868400;
duration = 409;
initialDepth = 3524.674923;
finalDepth = 3523.867330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.2510619999998
#   Actual altitude:          74.2510619999998
#   Commanded vehicle depth:  3523.86733 
#   Seafloor depth:           -3580.598539
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.386850 meters
#   Minimum depth: 3574.674923 meters looking forward 100.000000 meters along route
#   Maximum depth: 3592.951603 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3524.674923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970199;
longitude = -108.867418;
duration = 409;
initialDepth = 3546.729992;
finalDepth = 3524.674923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.731209
#   Actual altitude:          56.731209
#   Commanded vehicle depth:  3524.674923 
#   Seafloor depth:           -3574.674923
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.387055 meters
#   Minimum depth: 3596.729992 meters looking forward 100.000000 meters along route
#   Maximum depth: 3626.285356 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3546.729992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.970001;
longitude = -108.866435;
duration = 409;
initialDepth = 3574.164520;
finalDepth = 3546.729992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3546.729992 
#   Seafloor depth:           -3596.729992
# 
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 11
#   Segment length 102.387259 meters
#   Minimum depth: 3628.375076 meters looking forward 100.000000 meters along route
#   Maximum depth: 3641.986023 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3574.164520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969804;
longitude = -108.865453;
duration = 409;
initialDepth = 3594.070116;
finalDepth = 3574.164520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2105557874193
#   Actual altitude:          54.2105557874193
#   Commanded vehicle depth:  3574.16452021258 
#   Seafloor depth:           -3628.375076
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.387462 meters
#   Minimum depth: 3644.070116 meters looking forward 100.000000 meters along route
#   Maximum depth: 3675.126130 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3594.070116 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969607;
longitude = -108.864470;
duration = 409;
initialDepth = 3621.504753;
finalDepth = 3594.070116;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2105557874193
#   Actual altitude:          54.2105557874193
#   Commanded vehicle depth:  3594.070116 
#   Seafloor depth:           -3644.070116
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 27.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.914624 meters
#   Minimum depth: 3675.388467 meters looking forward 100.000000 meters along route
#   Maximum depth: 3691.678008 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3621.504753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969409;
longitude = -108.863487;
duration = 415;
initialDepth = 3639.090361;
finalDepth = 3621.504753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.8837137321002
#   Actual altitude:          53.8837137321002
#   Commanded vehicle depth:  3621.5047532679 
#   Seafloor depth:           -3675.388467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.94;
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 10
#   Segment length 150.026296 meters
#   Minimum depth: 3689.090361 meters looking forward 100.000000 meters along route
#   Maximum depth: 3692.402311 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3639.090361 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969209;
longitude = -108.862490;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 3599.798292;
finalDepth = 3639.090361;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.8837137321002
#   Actual altitude:          53.8837137321002
#   Commanded vehicle depth:  3639.090361 
#   Seafloor depth:           -3691.992737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.94;
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 9
#   Segment length 173.482350 meters
#   Minimum depth: 3649.798292 meters looking forward 100.000000 meters along route
#   Maximum depth: 3688.431519 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3599.798292 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.967886;
longitude = -108.862805;
duration = 693;
# abortOnTimeout    = True; 
initialDepth = 3573.374914;
finalDepth = 3599.798292;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.6332270000003
#   Actual altitude:          88.6332270000003
#   Commanded vehicle depth:  3599.798292 
#   Seafloor depth:           -3688.431519
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.388846 meters
#   Minimum depth: 3623.374914 meters looking forward 100.000000 meters along route
#   Maximum depth: 3645.944152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3573.374914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.968220;
longitude = -108.864470;
duration = 409;
initialDepth = 3558.200321;
finalDepth = 3573.374914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       88.6332270000003
#   Actual altitude:          88.6332270000003
#   Commanded vehicle depth:  3573.374914 
#   Seafloor depth:           -3645.944152
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.388643 meters
#   Minimum depth: 3608.200321 meters looking forward 100.000000 meters along route
#   Maximum depth: 3623.371094 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3558.200321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.968418;
longitude = -108.865453;
duration = 409;
initialDepth = 3523.917909;
finalDepth = 3558.200321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.569238
#   Actual altitude:          72.569238
#   Commanded vehicle depth:  3558.200321 
#   Seafloor depth:           -3623.371094
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.388439 meters
#   Minimum depth: 3573.917909 meters looking forward 100.000000 meters along route
#   Maximum depth: 3605.383964 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3523.917909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.968615;
longitude = -108.866435;
duration = 409;
initialDepth = 3518.180623;
finalDepth = 3523.917909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.4660550000003
#   Actual altitude:          81.4660550000003
#   Commanded vehicle depth:  3523.917909 
#   Seafloor depth:           -3605.383964
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.388235 meters
#   Minimum depth: 3568.180623 meters looking forward 100.000000 meters along route
#   Maximum depth: 3572.021101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3518.180623 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.968813;
longitude = -108.867418;
duration = 409;
initialDepth = 3521.153105;
finalDepth = 3518.180623;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.4660550000003
#   Actual altitude:          81.4660550000003
#   Commanded vehicle depth:  3518.180623 
#   Seafloor depth:           -3572.021101
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 102.388032 meters
#   Minimum depth: 3571.153105 meters looking forward 100.000000 meters along route
#   Maximum depth: 3586.034078 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3521.153105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969010;
longitude = -108.868400;
duration = 409;
initialDepth = 3538.819634;
finalDepth = 3521.153105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8404779999996
#   Actual altitude:          53.8404779999996
#   Commanded vehicle depth:  3521.153105 
#   Seafloor depth:           -3571.153105
# 
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 9
#   Segment length 105.556007 meters
#   Minimum depth: 3588.819634 meters looking forward 100.000000 meters along route
#   Maximum depth: 3615.244926 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3538.819634 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969207;
longitude = -108.869383;
duration = 422;
initialDepth = 3565.588933;
finalDepth = 3538.819634;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3538.819634 
#   Seafloor depth:           -3588.819634
# 
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 9
#   Segment length 105.859009 meters
#   Minimum depth: 3615.588933 meters looking forward 100.000000 meters along route
#   Maximum depth: 3626.255099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3565.588933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969411;
longitude = -108.870396;
duration = 423;
initialDepth = 3571.209882;
finalDepth = 3565.588933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3565.588933 
#   Seafloor depth:           -3615.588933
# 
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 8
#   Segment length 150.025550 meters
#   Minimum depth: 3621.209882 meters looking forward 100.000000 meters along route
#   Maximum depth: 3626.164429 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3571.209882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.969615;
longitude = -108.871412;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 3540.930891;
finalDepth = 3571.209882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.9545469999998
#   Actual altitude:          54.9545469999998
#   Commanded vehicle depth:  3571.209882 
#   Seafloor depth:           -3626.164429
# 
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;
}
# 
#######################################################
# 
# 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 172.567621 meters
#   Minimum depth: 3590.930891 meters looking forward 100.000000 meters along route
#   Maximum depth: 3623.703369 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3540.930891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.968292;
longitude = -108.871727;
duration = 690;
# abortOnTimeout    = True; 
initialDepth = 3526.939972;
finalDepth = 3540.930891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.7724779999999
#   Actual altitude:          82.7724779999999
#   Commanded vehicle depth:  3540.930891 
#   Seafloor depth:           -3623.703369
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.388935 meters
#   Minimum depth: 3576.939972 meters looking forward 100.000000 meters along route
#   Maximum depth: 3590.038972 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3526.939972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.967959;
longitude = -108.870071;
duration = 409;
initialDepth = 3527.627868;
finalDepth = 3526.939972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.7724779999999
#   Actual altitude:          82.7724779999999
#   Commanded vehicle depth:  3526.939972 
#   Seafloor depth:           -3590.038972
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.389138 meters
#   Minimum depth: 3577.627868 meters looking forward 100.000000 meters along route
#   Maximum depth: 3593.688354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3527.627868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.967762;
longitude = -108.869088;
duration = 409;
initialDepth = 3546.150147;
finalDepth = 3527.627868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.0989999999997
#   Actual altitude:          63.0989999999997
#   Commanded vehicle depth:  3527.627868 
#   Seafloor depth:           -3577.627868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 102.389342 meters
#   Minimum depth: 3596.150147 meters looking forward 100.000000 meters along route
#   Maximum depth: 3617.054594 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3546.150147 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.967565;
longitude = -108.868106;
duration = 409;
initialDepth = 3568.839296;
finalDepth = 3546.150147;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3546.150147 
#   Seafloor depth:           -3596.150147
# 
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 7
#   Segment length 102.389546 meters
#   Minimum depth: 3618.839296 meters looking forward 100.000000 meters along route
#   Maximum depth: 3625.650374 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3568.839296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.967367;
longitude = -108.867123;
duration = 409;
initialDepth = 3576.071139;
finalDepth = 3568.839296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3568.839296 
#   Seafloor depth:           -3618.839296
# 
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 7
#   Segment length 102.389749 meters
#   Minimum depth: 3626.071139 meters looking forward 100.000000 meters along route
#   Maximum depth: 3643.906450 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3576.071139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.967170;
longitude = -108.866140;
duration = 409;
initialDepth = 3594.026460;
finalDepth = 3576.071139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3576.071139 
#   Seafloor depth:           -3626.071139
# 
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 7
#   Segment length 102.389954 meters
#   Minimum depth: 3644.026460 meters looking forward 100.000000 meters along route
#   Maximum depth: 3671.367381 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3594.026460 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966972;
longitude = -108.865158;
duration = 409;
initialDepth = 3621.461765;
finalDepth = 3594.026460;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3594.02646 
#   Seafloor depth:           -3644.026460
# 
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 7
#   Segment length 109.943863 meters
#   Minimum depth: 3673.598557 meters looking forward 100.000000 meters along route
#   Maximum depth: 3691.657913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3621.461765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966775;
longitude = -108.864175;
duration = 439;
initialDepth = 3638.792738;
finalDepth = 3621.461765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.1367920027242
#   Actual altitude:          52.1367920027242
#   Commanded vehicle depth:  3621.46176499728 
#   Seafloor depth:           -3673.598557
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.07;
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 150.026338 meters
#   Minimum depth: 3688.792738 meters looking forward 100.000000 meters along route
#   Maximum depth: 3692.438354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3638.792738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966563;
longitude = -108.863120;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 3635.401679;
finalDepth = 3638.792738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.6456159999998
#   Actual altitude:          53.6456159999998
#   Commanded vehicle depth:  3638.792738 
#   Seafloor depth:           -3692.438354
# 
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;
}
# 
#######################################################
# 
# 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 77.123456 meters
#   Minimum depth: 3685.401679 meters looking forward 100.000000 meters along route
#   Maximum depth: 3689.484870 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3635.401679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965240;
longitude = -108.863435;
duration = 308;
# abortOnTimeout    = True; 
initialDepth = 3621.803764;
finalDepth = 3635.401679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6456159999998
#   Actual altitude:          53.6456159999998
#   Commanded vehicle depth:  3635.401679 
#   Seafloor depth:           -3688.626343
# 
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 5
#   Segment length 102.393701 meters
#   Minimum depth: 3671.803764 meters looking forward 100.000000 meters along route
#   Maximum depth: 3684.985974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3621.803764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965389;
longitude = -108.864175;
duration = 409;
initialDepth = 3600.853807;
finalDepth = 3621.803764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.1822100000004
#   Actual altitude:          63.1822100000004
#   Commanded vehicle depth:  3621.803764 
#   Seafloor depth:           -3684.985974
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.393496 meters
#   Minimum depth: 3650.853807 meters looking forward 100.000000 meters along route
#   Maximum depth: 3669.030260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3600.853807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965586;
longitude = -108.865158;
duration = 409;
initialDepth = 3585.900100;
finalDepth = 3600.853807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.176453
#   Actual altitude:          68.176453
#   Commanded vehicle depth:  3600.853807 
#   Seafloor depth:           -3669.030260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.393293 meters
#   Minimum depth: 3635.900100 meters looking forward 100.000000 meters along route
#   Maximum depth: 3649.960644 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3585.900100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965784;
longitude = -108.866140;
duration = 409;
initialDepth = 3570.924157;
finalDepth = 3585.900100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.176453
#   Actual altitude:          68.176453
#   Commanded vehicle depth:  3585.9001 
#   Seafloor depth:           -3649.960644
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.393089 meters
#   Minimum depth: 3620.924157 meters looking forward 100.000000 meters along route
#   Maximum depth: 3635.776107 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3570.924157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965981;
longitude = -108.867123;
duration = 409;
initialDepth = 3560.876061;
finalDepth = 3570.924157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8519500000002
#   Actual altitude:          64.8519500000002
#   Commanded vehicle depth:  3570.924157 
#   Seafloor depth:           -3635.776107
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.392885 meters
#   Minimum depth: 3610.876061 meters looking forward 100.000000 meters along route
#   Maximum depth: 3619.897971 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3560.876061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966179;
longitude = -108.868106;
duration = 409;
initialDepth = 3556.340593;
finalDepth = 3560.876061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.8519500000002
#   Actual altitude:          64.8519500000002
#   Commanded vehicle depth:  3560.876061 
#   Seafloor depth:           -3619.897971
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 102.392681 meters
#   Minimum depth: 3606.340593 meters looking forward 100.000000 meters along route
#   Maximum depth: 3609.796650 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3556.340593 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966376;
longitude = -108.869088;
duration = 409;
initialDepth = 3558.127832;
finalDepth = 3556.340593;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.0219099999999
#   Actual altitude:          59.0219099999999
#   Commanded vehicle depth:  3556.340593 
#   Seafloor depth:           -3609.796650
# 
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 5
#   Segment length 102.392478 meters
#   Minimum depth: 3608.127832 meters looking forward 100.000000 meters along route
#   Maximum depth: 3626.430801 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3558.127832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966574;
longitude = -108.870071;
duration = 409;
initialDepth = 3579.778646;
finalDepth = 3558.127832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4560570000003
#   Actual altitude:          53.4560570000003
#   Commanded vehicle depth:  3558.127832 
#   Seafloor depth:           -3608.127832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 26.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 103.005317 meters
#   Minimum depth: 3629.778646 meters looking forward 100.000000 meters along route
#   Maximum depth: 3644.924895 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3579.778646 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966771;
longitude = -108.871053;
duration = 412;
initialDepth = 3570.455447;
finalDepth = 3579.778646;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3579.778646 
#   Seafloor depth:           -3629.778646
# 
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 4
#   Segment length 150.025593 meters
#   Minimum depth: 3620.455447 meters looking forward 100.000000 meters along route
#   Maximum depth: 3635.265102 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3570.455447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.966970;
longitude = -108.872042;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 3566.547791;
finalDepth = 3570.455447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.0082980000002
#   Actual altitude:          62.0082980000002
#   Commanded vehicle depth:  3570.455447 
#   Seafloor depth:           -3632.463745
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
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 3
#   Segment length 176.146743 meters
#   Minimum depth: 3616.547791 meters looking forward 100.000000 meters along route
#   Maximum depth: 3655.454203 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3566.547791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965647;
longitude = -108.872357;
duration = 704;
# abortOnTimeout    = True; 
initialDepth = 3575.903562;
finalDepth = 3566.547791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0082980000002
#   Actual altitude:          62.0082980000002
#   Commanded vehicle depth:  3566.547791 
#   Seafloor depth:           -3616.547791
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 102.022222 meters
#   Minimum depth: 3625.903562 meters looking forward 100.000000 meters along route
#   Maximum depth: 3632.610616 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3575.903562 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965334;
longitude = -108.870660;
duration = 408;
initialDepth = 3576.171694;
finalDepth = 3575.903562;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.707054
#   Actual altitude:          56.707054
#   Commanded vehicle depth:  3575.903562 
#   Seafloor depth:           -3632.610616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 102.022415 meters
#   Minimum depth: 3626.171694 meters looking forward 100.000000 meters along route
#   Maximum depth: 3636.185943 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3576.171694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965153;
longitude = -108.869678;
duration = 408;
initialDepth = 3587.571816;
finalDepth = 3576.171694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.707054
#   Actual altitude:          56.707054
#   Commanded vehicle depth:  3576.171694 
#   Seafloor depth:           -3626.171694
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 28.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 102.022606 meters
#   Minimum depth: 3637.571816 meters looking forward 100.000000 meters along route
#   Maximum depth: 3656.448016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3587.571816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.964972;
longitude = -108.868695;
duration = 408;
initialDepth = 3607.957702;
finalDepth = 3587.571816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3587.571816 
#   Seafloor depth:           -3637.571816
# 
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 3
#   Segment length 102.022798 meters
#   Minimum depth: 3657.957702 meters looking forward 100.000000 meters along route
#   Maximum depth: 3669.592892 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3607.957702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.964791;
longitude = -108.867713;
duration = 408;
initialDepth = 3620.277371;
finalDepth = 3607.957702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3607.957702 
#   Seafloor depth:           -3657.957702
# 
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 3
#   Segment length 102.022990 meters
#   Minimum depth: 3670.277371 meters looking forward 100.000000 meters along route
#   Maximum depth: 3676.208059 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3620.277371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.964610;
longitude = -108.866730;
duration = 408;
initialDepth = 3626.922494;
finalDepth = 3620.277371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3620.277371 
#   Seafloor depth:           -3670.277371
# 
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 3
#   Segment length 102.023182 meters
#   Minimum depth: 3676.922494 meters looking forward 100.000000 meters along route
#   Maximum depth: 3682.236155 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3626.922494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.964428;
longitude = -108.865747;
duration = 408;
initialDepth = 3632.556517;
finalDepth = 3626.922494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3626.922494 
#   Seafloor depth:           -3676.922494
# 
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 3
#   Segment length 108.779101 meters
#   Minimum depth: 3682.556517 meters looking forward 100.000000 meters along route
#   Maximum depth: 3686.723940 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3632.556517 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.964247;
longitude = -108.864765;
duration = 435;
initialDepth = 3629.095086;
finalDepth = 3632.556517;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  3632.556517 
#   Seafloor depth:           -3682.556517
# 
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 2
#   Segment length 184.076833 meters
#   Minimum depth: 3679.095086 meters looking forward 100.000000 meters along route
#   Maximum depth: 3687.429260 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3629.095086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.964054;
longitude = -108.863717;
duration = 736;
# abortOnTimeout    = True; 
initialDepth = 3628.440247;
finalDepth = 3629.095086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.3341740000001
#   Actual altitude:          58.3341740000001
#   Commanded vehicle depth:  3629.095086 
#   Seafloor depth:           -3687.429260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.17;
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 184.076833 meters
#   Minimum depth: 3678.440247 meters looking forward 100.000000 meters along route
#   Maximum depth: 3687.030895 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 3776.651476 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 3628.440247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 23.965288;
longitude = -108.864928;
duration = 736;
# abortOnTimeout    = True; 
initialDepth = 3634.395535;
finalDepth = 3628.440247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.3341740000001
#   Actual altitude:          58.3341740000001
#   Commanded vehicle depth:  3628.440247 
#   Seafloor depth:           -3678.440247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 29.17;
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:       53.0337249999998
#   Sonar parameter altitude: 53.0337249999998
#   Commanded vehicle depth:  3634.395535 
#   Seafloor depth:           -3687.429260
# 
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 = 42;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000065;
MB_Bottom_Detect_Filter_Min_Range = 26.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint behavior to get back to start of line 1
#   Segment length 184.076833 meters
#   Minimum depth: 3684.395535 meters looking forward 100.000000 meters along route
#   Maximum depth: 3687.429260 meters looking forward 100.000000 meters along route
#   Vehicle depth: 3634.395535 meters
behavior waypoint
{
latitude = 23.964054;
longitude = -108.863717;
duration = 7268;
depth = 3634.395535;
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 3634.395535 meters set by local depth and desired altitude
behavior descend
{
duration = 13253;
horizontalMode = rudder;
horizontal = 2.000000;
pitch = -40.000000;
speed = 1.500000;
maxDepth = 3627.429260;
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 184.076833 meters
#   Minimum depth: 3684.395535 meters looking forward 100.000000 meters along route
#   Maximum depth: 3687.429260 meters looking forward 100.000000 meters along route
#   Vehicle depth: 50.000000 meters
behavior waypoint
{
latitude = 23.964054;
longitude = -108.863717;
duration = 2000;
depth = 50.000000;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 180.0;
pitch = -40.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 45.000000;
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 = 42;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000065;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
