# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <mappingauv> on cpu <holmes> at <Sun Feb 19 18:22:07 PST 2017>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2280 2016-08-07 03:48:42Z caress r
# 
# Mission Summary:
#     Route File:               2017_Patch_1v1.rte
#     Mission File:             2017_Patch_1v1.cfg
#     Distance:                 8586.212958 (m)
#     Estimated Time:           7582 (s)  2.106 (hr)
#     Abort Time:               11373 (s)
#     Max battery life:         68400 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1462 (s)
#     Way Points:               17
#     Route Points:             84
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           31 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            0.001 usec
#                                 Multibeam minimum range fraction: 0.6
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   20 (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:      1010.589788 (m)
#     Abort Vehicle Depth:        1035.589788 (m)
#     Descent Vehicle Depth:      3 (m)
#     Forward Looking Distance:   200 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         20 (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 -121.972017 36.798702 -105.856934 0.000000 3
#   1 -121.973444 36.796780 -144.557129 248.346833 1
#   2 -121.983215 36.792382 -326.944824 1247.402318 1
#   3 -121.991530 36.783550 -568.527832 2476.452133 1
#   4 -122.004237 36.777783 -925.007812 3778.458515 1
#   5 -122.008124 36.777790 -985.552658 4125.346805 3
#   6 -122.022061 36.784409 -1038.901428 5569.666522 3
#   7 -122.019656 36.783280 -1029.542480 5818.153980 3
#   8 -122.017759 36.782386 -1022.425140 6014.350861 5
#   9 -122.015780 36.781455 -1017.575409 6218.938306 5
#   10 -122.013614 36.780403 -1006.496002 6444.731826 3
#   11 -122.007788 36.777610 -979.644089 7049.981908 3
#   12 -122.012088 36.777849 -995.889389 7434.641592 3
#   13 -122.010116 36.780498 -993.245850 7777.184172 3
#   14 -122.011924 36.778089 -996.587952 8089.366519 3
#   15 -122.012417 36.777867 -995.617676 8139.816949 1
#   16 -122.007427 36.777590 -974.795980 8586.212958 4
# 
# A total of 84 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 11373;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 1010.589788;
abortDepth = 1035.589788;
minAltitude = 50.000000;
abortAltitude = 20.000000;
deltaDepthRestart = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 1462;
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 16
#   Segment length 145.012099 meters
#   Minimum depth: 974.795980 meters looking forward 200.000000 meters along route
#   Maximum depth: 994.913405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 924.795980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777590;
longitude = -122.007427;
duration = 580;
# abortOnTimeout    = True; 
initialDepth = 932.584898;
finalDepth = 924.795980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  924.79598 
#   Seafloor depth:           -974.795980
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 100.238654 meters
#   Minimum depth: 982.584898 meters looking forward 200.000000 meters along route
#   Maximum depth: 995.319433 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 932.584898 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777680;
longitude = -122.009048;
duration = 400;
initialDepth = 944.257176;
finalDepth = 932.584898;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.203661
#   Actual altitude:          62.203661
#   Commanded vehicle depth:  932.584898 
#   Seafloor depth:           -994.788559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 100.238551 meters
#   Minimum depth: 994.257176 meters looking forward 200.000000 meters along route
#   Maximum depth: 995.633555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.257176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777742;
longitude = -122.010168;
duration = 400;
initialDepth = 944.257176;
finalDepth = 944.257176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.203661
#   Actual altitude:          62.203661
#   Commanded vehicle depth:  944.257176 
#   Seafloor depth:           -995.011863
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 100.906705 meters
#   Minimum depth: 994.257176 meters looking forward 200.000000 meters along route
#   Maximum depth: 996.456670 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.257176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777804;
longitude = -122.011289;
duration = 403;
initialDepth = 945.066896;
finalDepth = 944.257176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       51.3982060000001
#   Actual altitude:          51.3982060000001
#   Commanded vehicle depth:  944.257176 
#   Seafloor depth:           -995.655382
# 
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;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 50.450430 meters
#   Minimum depth: 995.066896 meters looking forward 200.000000 meters along route
#   Maximum depth: 997.156693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.066896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777867;
longitude = -122.012417;
duration = 201;
# abortOnTimeout    = True; 
initialDepth = 945.553844;
finalDepth = 945.066896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.3982060000001
#   Actual altitude:          51.3982060000001
#   Commanded vehicle depth:  945.066896 
#   Seafloor depth:           -995.617676
# 
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 14
#   Segment length 109.737367 meters
#   Minimum depth: 995.553844 meters looking forward 200.000000 meters along route
#   Maximum depth: 997.911462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.553844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778089;
longitude = -122.011924;
duration = 438;
# abortOnTimeout    = True; 
initialDepth = 945.852187;
finalDepth = 945.553844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0341079999999
#   Actual altitude:          51.0341079999999
#   Commanded vehicle depth:  945.553844 
#   Seafloor depth:           -996.587952
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 100.516275 meters
#   Minimum depth: 995.852187 meters looking forward 200.000000 meters along route
#   Maximum depth: 1000.647681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.852187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778936;
longitude = -122.011288;
duration = 402;
initialDepth = 943.522953;
finalDepth = 945.852187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.798492
#   Actual altitude:          51.798492
#   Commanded vehicle depth:  945.852187 
#   Seafloor depth:           -997.650679
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.928705 meters
#   Minimum depth: 993.522953 meters looking forward 200.000000 meters along route
#   Maximum depth: 1000.647681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 943.522953 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779711;
longitude = -122.010706;
duration = 407;
initialDepth = 943.245850;
finalDepth = 943.522953;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.500274
#   Actual altitude:          56.500274
#   Commanded vehicle depth:  943.522953 
#   Seafloor depth:           -1000.023227
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 141.469042 meters
#   Minimum depth: 993.245850 meters looking forward 200.000000 meters along route
#   Maximum depth: 1000.602215 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 943.245850 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780498;
longitude = -122.010116;
duration = 565;
# abortOnTimeout    = True; 
initialDepth = 947.475794;
finalDepth = 943.245850;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.500274
#   Actual altitude:          56.500274
#   Commanded vehicle depth:  943.24585 
#   Seafloor depth:           -993.245850
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.155364 meters
#   Minimum depth: 997.475794 meters looking forward 200.000000 meters along route
#   Maximum depth: 1000.602215 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.475794 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779404;
longitude = -122.010930;
duration = 400;
initialDepth = 945.836221;
finalDepth = 947.475794;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.932995
#   Actual altitude:          51.932995
#   Commanded vehicle depth:  947.475794 
#   Seafloor depth:           -999.408789
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.918174 meters
#   Minimum depth: 995.836221 meters looking forward 200.000000 meters along route
#   Maximum depth: 999.436746 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.836221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778629;
longitude = -122.011507;
duration = 403;
initialDepth = 945.532994;
finalDepth = 945.836221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.932995
#   Actual altitude:          51.932995
#   Commanded vehicle depth:  945.836221 
#   Seafloor depth:           -997.730952
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 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 83.502897 meters
#   Minimum depth: 995.532994 meters looking forward 200.000000 meters along route
#   Maximum depth: 997.808895 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.532994 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777849;
longitude = -122.012088;
duration = 334;
# abortOnTimeout    = True; 
initialDepth = 944.258783;
finalDepth = 945.532994;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.894731
#   Actual altitude:          51.894731
#   Commanded vehicle depth:  945.532994 
#   Seafloor depth:           -995.889389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 100.240329 meters
#   Minimum depth: 994.258783 meters looking forward 200.000000 meters along route
#   Maximum depth: 996.667025 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.258783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777797;
longitude = -122.011155;
duration = 400;
initialDepth = 944.258783;
finalDepth = 944.258783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.331991
#   Actual altitude:          51.331991
#   Commanded vehicle depth:  944.258783 
#   Seafloor depth:           -995.590774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 100.240431 meters
#   Minimum depth: 994.258783 meters looking forward 200.000000 meters along route
#   Maximum depth: 995.597420 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.258783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777735;
longitude = -122.010034;
duration = 400;
initialDepth = 929.735605;
finalDepth = 944.258783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.331991
#   Actual altitude:          51.331991
#   Commanded vehicle depth:  944.258783 
#   Seafloor depth:           -995.044404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 100.676027 meters
#   Minimum depth: 979.735605 meters looking forward 200.000000 meters along route
#   Maximum depth: 995.319079 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 929.735605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777673;
longitude = -122.008913;
duration = 402;
initialDepth = 929.644089;
finalDepth = 929.735605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       65.1312690000001
#   Actual altitude:          65.1312690000001
#   Commanded vehicle depth:  929.735605 
#   Seafloor depth:           -994.866874
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.08;
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 11
#   Segment length 102.949770 meters
#   Minimum depth: 979.644089 meters looking forward 200.000000 meters along route
#   Maximum depth: 994.821557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 929.644089 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777610;
longitude = -122.007788;
duration = 411;
# abortOnTimeout    = True; 
initialDepth = 930.846822;
finalDepth = 929.644089;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1312690000001
#   Actual altitude:          65.1312690000001
#   Commanded vehicle depth:  929.644089 
#   Seafloor depth:           -979.644089
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.115274 meters
#   Minimum depth: 980.846822 meters looking forward 200.000000 meters along route
#   Maximum depth: 995.041930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 930.846822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778085;
longitude = -122.008779;
duration = 400;
initialDepth = 944.078385;
finalDepth = 930.846822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.5318930000001
#   Actual altitude:          63.5318930000001
#   Commanded vehicle depth:  930.846822 
#   Seafloor depth:           -994.378715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.114813 meters
#   Minimum depth: 994.078385 meters looking forward 200.000000 meters along route
#   Maximum depth: 997.785336 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.078385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778547;
longitude = -122.009743;
duration = 400;
initialDepth = 944.304851;
finalDepth = 944.078385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.5318930000001
#   Actual altitude:          63.5318930000001
#   Commanded vehicle depth:  944.078385 
#   Seafloor depth:           -994.302532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.114354 meters
#   Minimum depth: 994.304851 meters looking forward 200.000000 meters along route
#   Maximum depth: 1000.314397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.304851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779009;
longitude = -122.010706;
duration = 400;
initialDepth = 947.189043;
finalDepth = 944.304851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.999534
#   Actual altitude:          52.999534
#   Commanded vehicle depth:  944.304851 
#   Seafloor depth:           -997.304385
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.113893 meters
#   Minimum depth: 997.189043 meters looking forward 200.000000 meters along route
#   Maximum depth: 1002.540481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.189043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779471;
longitude = -122.011670;
duration = 400;
initialDepth = 949.907751;
finalDepth = 947.189043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.999534
#   Actual altitude:          52.999534
#   Commanded vehicle depth:  947.189043 
#   Seafloor depth:           -1000.081110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.841978 meters
#   Minimum depth: 999.907751 meters looking forward 200.000000 meters along route
#   Maximum depth: 1006.341436 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 949.907751 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779933;
longitude = -122.012634;
duration = 407;
initialDepth = 954.322184;
finalDepth = 949.907751;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.892067
#   Actual altitude:          52.892067
#   Commanded vehicle depth:  949.907751 
#   Seafloor depth:           -1002.626632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.74;
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 10
#   Segment length 124.422772 meters
#   Minimum depth: 1004.322184 meters looking forward 200.000000 meters along route
#   Maximum depth: 1012.405199 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 954.322184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780403;
longitude = -122.013614;
duration = 497;
# abortOnTimeout    = True; 
initialDepth = 932.002796;
finalDepth = 954.322184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.718881
#   Actual altitude:          52.718881
#   Commanded vehicle depth:  954.322184 
#   Seafloor depth:           -1006.496002
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 101.370748 meters
#   Minimum depth: 1007.002796 meters looking forward 200.000000 meters along route
#   Maximum depth: 1017.554383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 932.002796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780983;
longitude = -122.014808;
duration = 405;
initialDepth = 937.856197;
finalDepth = 932.002796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       80.618118
#   Actual altitude:          80.618118
#   Commanded vehicle depth:  932.002796 
#   Seafloor depth:           -1012.620914
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.37;
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 9
#   Segment length 103.812025 meters
#   Minimum depth: 1012.856197 meters looking forward 200.000000 meters along route
#   Maximum depth: 1019.528238 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 937.856197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781455;
longitude = -122.015780;
duration = 415;
# abortOnTimeout    = True; 
initialDepth = 942.670995;
finalDepth = 937.856197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.618118
#   Actual altitude:          80.618118
#   Commanded vehicle depth:  937.856197 
#   Seafloor depth:           -1017.575409
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.775420 meters
#   Minimum depth: 1017.670995 meters looking forward 200.000000 meters along route
#   Maximum depth: 1022.469006 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 942.670995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781927;
longitude = -122.016784;
duration = 403;
initialDepth = 944.500801;
finalDepth = 942.670995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       79.7192120000001
#   Actual altitude:          79.7192120000001
#   Commanded vehicle depth:  942.670995 
#   Seafloor depth:           -1019.524746
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.83;
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 8
#   Segment length 95.740234 meters
#   Minimum depth: 1019.500801 meters looking forward 200.000000 meters along route
#   Maximum depth: 1026.148097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.500801 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782386;
longitude = -122.017759;
duration = 382;
# abortOnTimeout    = True; 
initialDepth = 972.425140;
finalDepth = 944.500801;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.924339
#   Actual altitude:          77.924339
#   Commanded vehicle depth:  944.500801 
#   Seafloor depth:           -1022.425140
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 100.456647 meters
#   Minimum depth: 1022.425140 meters looking forward 200.000000 meters along route
#   Maximum depth: 1029.403769 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 972.425140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782822;
longitude = -122.018685;
duration = 401;
initialDepth = 977.592419;
finalDepth = 972.425140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       77.924339
#   Actual altitude:          77.924339
#   Commanded vehicle depth:  972.42514 
#   Seafloor depth:           -1026.043201
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.75;
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 7
#   Segment length 147.407839 meters
#   Minimum depth: 1027.592419 meters looking forward 200.000000 meters along route
#   Maximum depth: 1035.969536 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 977.592419 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783280;
longitude = -122.019656;
duration = 589;
# abortOnTimeout    = True; 
initialDepth = 982.665338;
finalDepth = 977.592419;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6180609999999
#   Actual altitude:          53.6180609999999
#   Commanded vehicle depth:  977.592419 
#   Seafloor depth:           -1029.542480
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.079619 meters
#   Minimum depth: 1032.665338 meters looking forward 200.000000 meters along route
#   Maximum depth: 1039.608386 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 982.665338 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783950;
longitude = -122.021083;
duration = 404;
initialDepth = 985.589788;
finalDepth = 982.665338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.376593
#   Actual altitude:          53.376593
#   Commanded vehicle depth:  982.665338 
#   Seafloor depth:           -1036.041931
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.03;
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 6
#   Segment length 117.638098 meters
#   Minimum depth: 1035.589788 meters looking forward 200.000000 meters along route
#   Maximum depth: 1039.615815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 985.589788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784409;
longitude = -122.022061;
duration = 470;
# abortOnTimeout    = True; 
initialDepth = 980.593376;
finalDepth = 985.589788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.376593
#   Actual altitude:          53.376593
#   Commanded vehicle depth:  985.589788 
#   Seafloor depth:           -1038.901428
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.188077 meters
#   Minimum depth: 1030.593376 meters looking forward 200.000000 meters along route
#   Maximum depth: 1038.755519 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 980.593376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783870;
longitude = -122.020926;
duration = 408;
initialDepth = 976.973402;
finalDepth = 980.593376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.974453
#   Actual altitude:          54.974453
#   Commanded vehicle depth:  980.593376 
#   Seafloor depth:           -1035.567829
# 
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 6
#   Segment length 102.188555 meters
#   Minimum depth: 1026.973402 meters looking forward 200.000000 meters along route
#   Maximum depth: 1035.571188 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 976.973402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783402;
longitude = -122.019940;
duration = 408;
initialDepth = 973.323574;
finalDepth = 976.973402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.974453
#   Actual altitude:          54.974453
#   Commanded vehicle depth:  976.973402 
#   Seafloor depth:           -1030.683212
# 
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 6
#   Segment length 102.189034 meters
#   Minimum depth: 1023.323574 meters looking forward 200.000000 meters along route
#   Maximum depth: 1030.771657 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 973.323574 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782933;
longitude = -122.018954;
duration = 408;
initialDepth = 970.559619;
finalDepth = 973.323574;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7098099999998
#   Actual altitude:          53.7098099999998
#   Commanded vehicle depth:  973.323574 
#   Seafloor depth:           -1026.930628
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.189512 meters
#   Minimum depth: 1020.559619 meters looking forward 200.000000 meters along route
#   Maximum depth: 1026.646512 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 970.559619 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782465;
longitude = -122.017968;
duration = 408;
initialDepth = 968.184995;
finalDepth = 970.559619;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6070540000001
#   Actual altitude:          53.6070540000001
#   Commanded vehicle depth:  970.559619 
#   Seafloor depth:           -1023.259044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.189991 meters
#   Minimum depth: 1018.184995 meters looking forward 200.000000 meters along route
#   Maximum depth: 1022.983061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 968.184995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781997;
longitude = -122.016981;
duration = 408;
initialDepth = 963.678457;
finalDepth = 968.184995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.699425
#   Actual altitude:          52.699425
#   Commanded vehicle depth:  968.184995 
#   Seafloor depth:           -1020.527811
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.190470 meters
#   Minimum depth: 1013.678457 meters looking forward 200.000000 meters along route
#   Maximum depth: 1020.315668 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 963.678457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781528;
longitude = -122.015995;
duration = 408;
initialDepth = 957.274464;
finalDepth = 963.678457;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.485731
#   Actual altitude:          54.485731
#   Commanded vehicle depth:  963.678457 
#   Seafloor depth:           -1018.164188
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.190948 meters
#   Minimum depth: 1007.274464 meters looking forward 200.000000 meters along route
#   Maximum depth: 1018.045015 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 957.274464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781060;
longitude = -122.015009;
duration = 408;
initialDepth = 954.350021;
finalDepth = 957.274464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3643040000001
#   Actual altitude:          56.3643040000001
#   Commanded vehicle depth:  957.274464 
#   Seafloor depth:           -1013.638768
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.191426 meters
#   Minimum depth: 1004.350021 meters looking forward 200.000000 meters along route
#   Maximum depth: 1013.347421 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 954.350021 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780592;
longitude = -122.014023;
duration = 408;
initialDepth = 951.216691;
finalDepth = 954.350021;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3643040000001
#   Actual altitude:          56.3643040000001
#   Commanded vehicle depth:  954.350021 
#   Seafloor depth:           -1007.250710
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.191906 meters
#   Minimum depth: 1001.216691 meters looking forward 200.000000 meters along route
#   Maximum depth: 1007.046883 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 951.216691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780123;
longitude = -122.013037;
duration = 408;
initialDepth = 947.865791;
finalDepth = 951.216691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.11143
#   Actual altitude:          53.11143
#   Commanded vehicle depth:  951.216691 
#   Seafloor depth:           -1004.328121
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.192383 meters
#   Minimum depth: 997.865791 meters looking forward 200.000000 meters along route
#   Maximum depth: 1004.846409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.865791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779655;
longitude = -122.012051;
duration = 408;
initialDepth = 945.617864;
finalDepth = 947.865791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2746830000001
#   Actual altitude:          53.2746830000001
#   Commanded vehicle depth:  947.865791 
#   Seafloor depth:           -1001.140474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.192863 meters
#   Minimum depth: 995.617864 meters looking forward 200.000000 meters along route
#   Maximum depth: 1001.172182 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 945.617864 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779187;
longitude = -122.011065;
duration = 408;
initialDepth = 944.124340;
finalDepth = 945.617864;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2746830000001
#   Actual altitude:          53.2746830000001
#   Commanded vehicle depth:  945.617864 
#   Seafloor depth:           -997.823200
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 102.193341 meters
#   Minimum depth: 994.124340 meters looking forward 200.000000 meters along route
#   Maximum depth: 997.730438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 944.124340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778718;
longitude = -122.010079;
duration = 408;
initialDepth = 935.742514;
finalDepth = 944.124340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.205336
#   Actual altitude:          52.205336
#   Commanded vehicle depth:  944.12434 
#   Seafloor depth:           -995.606552
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 100.393113 meters
#   Minimum depth: 985.742514 meters looking forward 200.000000 meters along route
#   Maximum depth: 995.413704 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 935.742514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778250;
longitude = -122.009093;
duration = 401;
initialDepth = 908.167073;
finalDepth = 935.742514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.3679629999999
#   Actual altitude:          58.3679629999999
#   Commanded vehicle depth:  935.742514 
#   Seafloor depth:           -994.110477
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.02;
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 145.553791 meters
#   Minimum depth: 958.167073 meters looking forward 200.000000 meters along route
#   Maximum depth: 993.105743 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 908.167073 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777790;
longitude = -122.008124;
duration = 582;
# abortOnTimeout    = True; 
initialDepth = 885.256450;
finalDepth = 908.167073;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.385585
#   Actual altitude:          77.385585
#   Commanded vehicle depth:  908.167073 
#   Seafloor depth:           -985.552658
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.002222 meters
#   Minimum depth: 935.256450 meters looking forward 200.000000 meters along route
#   Maximum depth: 976.115258 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 885.256450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777787;
longitude = -122.006493;
duration = 400;
initialDepth = 875.047528;
finalDepth = 885.256450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.385585
#   Actual altitude:          77.385585
#   Commanded vehicle depth:  885.25645 
#   Seafloor depth:           -957.796004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.332277 meters
#   Minimum depth: 925.047528 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.197312 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.047528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777785;
longitude = -122.005372;
duration = 405;
initialDepth = 861.349663;
finalDepth = 875.047528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       72.5395540000001
#   Actual altitude:          72.5395540000001
#   Commanded vehicle depth:  875.047528 
#   Seafloor depth:           -934.907241
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 90.328478 meters
#   Minimum depth: 911.349663 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.105382 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 861.349663 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.777783;
longitude = -122.004237;
duration = 361;
# abortOnTimeout    = True; 
initialDepth = 847.673989;
finalDepth = 861.349663;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.658149
#   Actual altitude:          63.658149
#   Commanded vehicle depth:  861.349663 
#   Seafloor depth:           -925.007812
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.040734 meters
#   Minimum depth: 897.673989 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.985536 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 847.673989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778183;
longitude = -122.003355;
duration = 404;
initialDepth = 826.130150;
finalDepth = 847.673989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.658149
#   Actual altitude:          63.658149
#   Commanded vehicle depth:  847.673989 
#   Seafloor depth:           -911.311838
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.453095 meters
#   Minimum depth: 876.130150 meters looking forward 200.000000 meters along route
#   Maximum depth: 911.118542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 826.130150 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.778631;
longitude = -122.002369;
duration = 405;
initialDepth = 798.691902;
finalDepth = 826.130150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.977176
#   Actual altitude:          71.977176
#   Commanded vehicle depth:  826.13015 
#   Seafloor depth:           -898.107326
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.627099 meters
#   Minimum depth: 848.691902 meters looking forward 200.000000 meters along route
#   Maximum depth: 898.215862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 798.691902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779080;
longitude = -122.001379;
duration = 402;
initialDepth = 771.917966;
finalDepth = 798.691902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.411538
#   Actual altitude:          77.411538
#   Commanded vehicle depth:  798.691902 
#   Seafloor depth:           -876.103440
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.039461 meters
#   Minimum depth: 821.917966 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.207013 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 771.917966 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779526;
longitude = -122.000397;
duration = 404;
initialDepth = 756.634142;
finalDepth = 771.917966;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.411538
#   Actual altitude:          77.411538
#   Commanded vehicle depth:  771.917966 
#   Seafloor depth:           -848.125166
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.039037 meters
#   Minimum depth: 806.634142 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.024776 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 756.634142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.779973;
longitude = -121.999411;
duration = 404;
initialDepth = 730.068389;
finalDepth = 756.634142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.2072000000001
#   Actual altitude:          76.2072000000001
#   Commanded vehicle depth:  756.634142 
#   Seafloor depth:           -821.469469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.038612 meters
#   Minimum depth: 780.068389 meters looking forward 200.000000 meters along route
#   Maximum depth: 821.637836 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.068389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780421;
longitude = -121.998425;
duration = 404;
initialDepth = 687.606430;
finalDepth = 730.068389;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.984909
#   Actual altitude:          76.984909
#   Commanded vehicle depth:  730.068389 
#   Seafloor depth:           -807.053298
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 46.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.038188 meters
#   Minimum depth: 737.606430 meters looking forward 200.000000 meters along route
#   Maximum depth: 807.195851 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.606430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.780868;
longitude = -121.997439;
duration = 404;
initialDepth = 645.098784;
finalDepth = 687.606430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.9806759999999
#   Actual altitude:          91.9806759999999
#   Commanded vehicle depth:  687.60643 
#   Seafloor depth:           -779.587106
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.460609 meters
#   Minimum depth: 695.098784 meters looking forward 200.000000 meters along route
#   Maximum depth: 778.263914 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 645.098784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781316;
longitude = -121.996453;
duration = 405;
initialDepth = 602.911451;
finalDepth = 645.098784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.40459
#   Actual altitude:          92.40459
#   Commanded vehicle depth:  645.098784 
#   Seafloor depth:           -737.503374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.614494 meters
#   Minimum depth: 652.911451 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.662234 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 602.911451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.781765;
longitude = -121.995463;
duration = 402;
initialDepth = 566.617013;
finalDepth = 602.911451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.40459
#   Actual altitude:          92.40459
#   Commanded vehicle depth:  602.911451 
#   Seafloor depth:           -694.853233
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.036915 meters
#   Minimum depth: 616.617013 meters looking forward 200.000000 meters along route
#   Maximum depth: 693.708634 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 566.617013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782211;
longitude = -121.994481;
duration = 404;
initialDepth = 541.614076;
finalDepth = 566.617013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       91.941782
#   Actual altitude:          91.941782
#   Commanded vehicle depth:  566.617013 
#   Seafloor depth:           -652.582748
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.036491 meters
#   Minimum depth: 591.614076 meters looking forward 200.000000 meters along route
#   Maximum depth: 652.089699 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 541.614076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.782658;
longitude = -121.993495;
duration = 404;
initialDepth = 518.576229;
finalDepth = 541.614076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.965735
#   Actual altitude:          85.965735
#   Commanded vehicle depth:  541.614076 
#   Seafloor depth:           -616.318288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.253169 meters
#   Minimum depth: 568.576229 meters looking forward 200.000000 meters along route
#   Maximum depth: 616.096007 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.576229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783106;
longitude = -121.992508;
duration = 401;
initialDepth = 483.913299;
finalDepth = 518.576229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       74.7042120000001
#   Actual altitude:          74.7042120000001
#   Commanded vehicle depth:  518.576229 
#   Seafloor depth:           -591.232609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 125.307594 meters
#   Minimum depth: 533.913299 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.103063 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.913299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.783550;
longitude = -121.991530;
duration = 501;
# abortOnTimeout    = True; 
initialDepth = 462.503410;
finalDepth = 483.913299;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.6145329999999
#   Actual altitude:          84.6145329999999
#   Commanded vehicle depth:  483.913299 
#   Seafloor depth:           -568.527832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.316605 meters
#   Minimum depth: 512.503410 meters looking forward 200.000000 meters along route
#   Maximum depth: 560.465114 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 462.503410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.784450;
longitude = -121.990682;
duration = 401;
initialDepth = 437.934203;
finalDepth = 462.503410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.6145329999999
#   Actual altitude:          84.6145329999999
#   Commanded vehicle depth:  462.50341 
#   Seafloor depth:           -533.522153
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.316283 meters
#   Minimum depth: 487.934203 meters looking forward 200.000000 meters along route
#   Maximum depth: 533.147804 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 437.934203 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785171;
longitude = -121.990004;
duration = 401;
initialDepth = 414.368666;
finalDepth = 437.934203;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.761382
#   Actual altitude:          73.761382
#   Commanded vehicle depth:  437.934203 
#   Seafloor depth:           -511.695585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.315961 meters
#   Minimum depth: 464.368666 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.463423 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 414.368666 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.785892;
longitude = -121.989325;
duration = 401;
initialDepth = 405.929122;
finalDepth = 414.368666;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.761382
#   Actual altitude:          73.761382
#   Commanded vehicle depth:  414.368666 
#   Seafloor depth:           -487.877465
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.315641 meters
#   Minimum depth: 455.929122 meters looking forward 200.000000 meters along route
#   Maximum depth: 487.059566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 405.929122 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.786613;
longitude = -121.988646;
duration = 401;
initialDepth = 395.447342;
finalDepth = 405.929122;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.508799
#   Actual altitude:          73.508799
#   Commanded vehicle depth:  405.929122 
#   Seafloor depth:           -464.293917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.315319 meters
#   Minimum depth: 445.447342 meters looking forward 200.000000 meters along route
#   Maximum depth: 464.172292 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 395.447342 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.787334;
longitude = -121.987968;
duration = 401;
initialDepth = 381.706364;
finalDepth = 395.447342;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.20408
#   Actual altitude:          60.20408
#   Commanded vehicle depth:  395.447342 
#   Seafloor depth:           -455.651422
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.314997 meters
#   Minimum depth: 431.706364 meters looking forward 200.000000 meters along route
#   Maximum depth: 455.507448 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 381.706364 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788055;
longitude = -121.987289;
duration = 401;
initialDepth = 363.633231;
finalDepth = 381.706364;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.424915
#   Actual altitude:          63.424915
#   Commanded vehicle depth:  381.706364 
#   Seafloor depth:           -445.131279
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.314676 meters
#   Minimum depth: 413.633231 meters looking forward 200.000000 meters along route
#   Maximum depth: 444.810813 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 363.633231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.788776;
longitude = -121.986610;
duration = 401;
initialDepth = 333.625197;
finalDepth = 363.633231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.956419
#   Actual altitude:          67.956419
#   Commanded vehicle depth:  363.633231 
#   Seafloor depth:           -431.589650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.314355 meters
#   Minimum depth: 383.625197 meters looking forward 200.000000 meters along route
#   Maximum depth: 431.131698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 333.625197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.789497;
longitude = -121.985932;
duration = 401;
initialDepth = 314.711019;
finalDepth = 333.625197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.599041
#   Actual altitude:          79.599041
#   Commanded vehicle depth:  333.625197 
#   Seafloor depth:           -413.224238
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.314033 meters
#   Minimum depth: 364.711019 meters looking forward 200.000000 meters along route
#   Maximum depth: 412.816817 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 314.711019 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790217;
longitude = -121.985253;
duration = 401;
initialDepth = 297.483229;
finalDepth = 314.711019;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.599041
#   Actual altitude:          79.599041
#   Commanded vehicle depth:  314.711019 
#   Seafloor depth:           -382.933976
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.313713 meters
#   Minimum depth: 347.483229 meters looking forward 200.000000 meters along route
#   Maximum depth: 382.718761 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 297.483229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.790938;
longitude = -121.984574;
duration = 401;
initialDepth = 276.992000;
finalDepth = 297.483229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.222957
#   Actual altitude:          68.222957
#   Commanded vehicle depth:  297.483229 
#   Seafloor depth:           -364.690733
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.590638 meters
#   Minimum depth: 326.992000 meters looking forward 200.000000 meters along route
#   Maximum depth: 364.264101 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 276.992000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.791659;
longitude = -121.983896;
duration = 402;
initialDepth = 255.192867;
finalDepth = 276.992000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       70.322927
#   Actual altitude:          70.322927
#   Commanded vehicle depth:  276.992 
#   Seafloor depth:           -347.314927
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 92.395368 meters
#   Minimum depth: 305.192867 meters looking forward 200.000000 meters along route
#   Maximum depth: 348.206506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 255.192867 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792382;
longitude = -121.983215;
duration = 369;
# abortOnTimeout    = True; 
initialDepth = 228.391328;
finalDepth = 255.192867;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.751957
#   Actual altitude:          71.751957
#   Commanded vehicle depth:  255.192867 
#   Seafloor depth:           -326.944824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.826390 meters
#   Minimum depth: 278.391328 meters looking forward 200.000000 meters along route
#   Maximum depth: 328.054056 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 228.391328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.792789;
longitude = -121.982311;
duration = 403;
initialDepth = 193.061519;
finalDepth = 228.391328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.176127
#   Actual altitude:          76.176127
#   Commanded vehicle depth:  228.391328 
#   Seafloor depth:           -304.567455
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.086323 meters
#   Minimum depth: 243.061519 meters looking forward 200.000000 meters along route
#   Maximum depth: 303.963422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 193.061519 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793233;
longitude = -121.981325;
duration = 404;
initialDepth = 173.322340;
finalDepth = 193.061519;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.000717
#   Actual altitude:          85.000717
#   Commanded vehicle depth:  193.061519 
#   Seafloor depth:           -278.062236
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.565192 meters
#   Minimum depth: 223.322340 meters looking forward 200.000000 meters along route
#   Maximum depth: 277.473323 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 173.322340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.793678;
longitude = -121.980337;
duration = 402;
initialDepth = 163.936110;
finalDepth = 173.322340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.000717
#   Actual altitude:          85.000717
#   Commanded vehicle depth:  173.32234 
#   Seafloor depth:           -243.021179
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.825126 meters
#   Minimum depth: 213.936110 meters looking forward 200.000000 meters along route
#   Maximum depth: 242.696779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 163.936110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794120;
longitude = -121.979353;
duration = 403;
initialDepth = 147.968530;
finalDepth = 163.936110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.698839
#   Actual altitude:          69.698839
#   Commanded vehicle depth:  163.93611 
#   Seafloor depth:           -223.080298
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.554402 meters
#   Minimum depth: 197.968530 meters looking forward 200.000000 meters along route
#   Maximum depth: 222.643461 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 147.968530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.794564;
longitude = -121.978367;
duration = 406;
initialDepth = 133.480382;
finalDepth = 147.968530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.865311
#   Actual altitude:          65.865311
#   Commanded vehicle depth:  147.96853 
#   Seafloor depth:           -213.833841
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.094585 meters
#   Minimum depth: 183.480382 meters looking forward 200.000000 meters along route
#   Maximum depth: 213.527966 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 133.480382 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795011;
longitude = -121.977374;
duration = 400;
initialDepth = 118.725337;
finalDepth = 133.480382;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.865311
#   Actual altitude:          65.865311
#   Commanded vehicle depth:  133.480382 
#   Seafloor depth:           -197.880499
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.823861 meters
#   Minimum depth: 168.725337 meters looking forward 200.000000 meters along route
#   Maximum depth: 197.697304 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 118.725337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795452;
longitude = -121.976395;
duration = 403;
initialDepth = 106.563424;
finalDepth = 118.725337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.491853
#   Actual altitude:          64.491853
#   Commanded vehicle depth:  118.725337 
#   Seafloor depth:           -183.217190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.823440 meters
#   Minimum depth: 156.563424 meters looking forward 200.000000 meters along route
#   Maximum depth: 182.899617 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 106.563424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.795896;
longitude = -121.975409;
duration = 403;
initialDepth = 94.803910;
finalDepth = 106.563424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.491853
#   Actual altitude:          64.491853
#   Commanded vehicle depth:  106.563424 
#   Seafloor depth:           -168.681418
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.060798 meters
#   Minimum depth: 144.803910 meters looking forward 200.000000 meters along route
#   Maximum depth: 168.360908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 94.803910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796340;
longitude = -121.974423;
duration = 400;
initialDepth = 63.734431;
finalDepth = 94.803910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.117994
#   Actual altitude:          62.117994
#   Commanded vehicle depth:  94.80391 
#   Seafloor depth:           -156.261738
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 146.356410 meters
#   Minimum depth: 113.734431 meters looking forward 200.000000 meters along route
#   Maximum depth: 150.045941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 63.734431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.796780;
longitude = -121.973444;
duration = 585;
# abortOnTimeout    = True; 
initialDepth = 55.894792;
finalDepth = 63.734431;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.822698
#   Actual altitude:          80.822698
#   Commanded vehicle depth:  63.734431 
#   Seafloor depth:           -144.557129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.990423 meters
#   Minimum depth: 105.894792 meters looking forward 200.000000 meters along route
#   Maximum depth: 134.500196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 55.894792 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 36.797913;
longitude = -121.972603;
duration = 407;
initialDepth = 55.856934;
finalDepth = 55.894792;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       80.822698
#   Actual altitude:          80.822698
#   Commanded vehicle depth:  55.894792 
#   Seafloor depth:           -113.626158
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.49;
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:       57.731366
#   Sonar parameter altitude: 57.731366
#   Commanded vehicle depth:  55.856934 
#   Seafloor depth:           -105.856934
# 
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 = 31;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.001000;
MB_Bottom_Detect_Filter_Min_Range = 34.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 105.856934 meters looking forward 200.000000 meters along route
#   Maximum depth: 134.500196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 1010.589788 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 55.856934 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 36.798702;
longitude = -121.972017;
duration = 600;
depth = 55.856934;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 200.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 200.0;
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 = 31;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.001000;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
