# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <multibeam> at <Mon Sep 22 10:12:22 PDT 2008>
# 
# Mission Summary:
#     Route File:               UpperCanyonLong_1v3.rte
#     Mission File:             UpperCanyonLong_1v3.cfg
#     Distance:                 88067.267722 (m)
#     Estimated Time:           62308 (s)  17.308 (hr)
#     Abort Time:               62308 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1235 (s)
#     Way Points:               350
#     Route Points:             1038
#     Survey behavior:          WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:  75
#                                 Multibeam transmit gain: 220
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
# 
# Mission Parameters:
#     Vehicle Speed:            1.500000 (m/s) 2.915769 (knots)
#     Desired Vehicle Altitude: 50 (m)
#     Minimum Vehicle Altitude: 50 (m)
#     Abort Vehicle Altitude:   30 (m)
#     Maximum Vehicle Depth:    1004.649142 (m)
#     Abort Vehicle Depth:      1029.649142 (m)
#     Descent Vehicle Depth:    3 (m)
#     Forward Looking Distance: 100 (m)
#     Waypoint Spacing:         100 (m)
#     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 -121.817758 36.804604 -41.385385 0.000000 3
#   1 -121.813070 36.805426 -42.836206 428.067233 1
#   2 -121.808811 36.805090 -43.719958 809.857435 1
#   3 -121.807186 36.803017 -129.400879 1081.727168 3
#   4 -121.805336 36.803465 -120.738829 1254.100526 1
#   5 -121.801133 36.804362 -88.016739 1642.058875 3
#   6 -121.800610 36.802812 -107.673225 1820.241906 3
#   7 -121.803636 36.802420 -124.776789 2093.696368 1
#   8 -121.807858 36.802233 -142.321850 2470.947126 1
#   9 -121.810268 36.801392 -152.615803 2705.336306 1
#   10 -121.812005 36.800048 -148.400249 2920.397045 1
#   11 -121.813462 36.799488 -162.449783 3064.476151 1
#   12 -121.814022 36.798255 -165.993443 3210.110276 1
#   13 -121.816021 36.798050 -172.742649 3389.911306 1
#   14 -121.818337 36.798928 -179.175449 3618.359246 1
#   15 -121.820168 36.799618 -185.396793 3798.770515 1
#   16 -121.821233 36.799899 -188.444279 3898.774418 1
#   17 -121.821961 36.799562 -190.551010 3973.719516 1
#   18 -121.822092 36.798255 -196.136227 4119.194385 1
#   19 -121.821905 36.796481 -201.568363 4316.715986 1
#   20 -121.821793 36.795361 -205.040436 4441.375065 1
#   21 -121.822466 36.793848 -212.632553 4619.651894 1
#   22 -121.823157 36.792653 -216.869995 4765.866353 1
#   23 -121.823941 36.792205 -220.638103 4851.681420 1
#   24 -121.825324 36.790991 -220.608932 5034.354356 1
#   25 -121.826856 36.789964 -222.752384 5212.314945 1
#   26 -121.828910 36.789199 -232.039513 5414.295905 1
#   27 -121.831171 36.788900 -237.695393 5618.761143 1
#   28 -121.833001 36.789311 -244.481091 5788.304574 1
#   29 -121.835243 36.789927 -244.642647 5999.714791 1
#   30 -121.837447 36.790580 -255.854954 6209.300777 1
#   31 -121.839390 36.791439 -270.308464 6407.142404 1
#   32 -121.841687 36.791944 -280.152405 6619.623223 1
#   33 -121.844340 36.792485 -286.412033 6863.839059 1
#   34 -121.846077 36.793157 -292.429352 7035.828145 1
#   35 -121.848319 36.794054 -301.678917 7259.262439 1
#   36 -121.850168 36.794782 -307.652145 7442.951674 1
#   37 -121.851681 36.795790 -313.683075 7618.253677 1
#   38 -121.853064 36.796705 -318.454590 7778.040784 1
#   39 -121.854483 36.798199 -324.578857 7986.613318 1
#   40 -121.855212 36.799208 -326.995499 8116.079893 1
#   41 -121.857296 36.800543 -327.462158 8353.794618 1
#   42 -121.858678 36.800919 -312.433418 8483.960755 1
#   43 -121.859537 36.800498 -326.512390 8573.711204 1
#   44 -121.860321 36.799237 -338.947342 8730.123457 1
#   45 -121.862002 36.797344 -366.727074 8988.195950 1
#   46 -121.864000 36.795737 -376.250229 9240.318799 1
#   47 -121.868145 36.794250 -381.298119 9645.285238 1
#   48 -121.871671 36.792813 -372.491302 9997.988017 1
#   49 -121.876492 36.791726 -402.276642 10444.743503 1
#   50 -121.879984 36.792567 -412.358231 10769.999801 1
#   51 -121.881982 36.794115 -419.975418 11017.541510 1
#   52 -121.884335 36.795827 -425.170174 11300.654356 1
#   53 -121.886015 36.796548 -424.188370 11470.557908 1
#   54 -121.888424 36.796187 -425.092239 11689.197112 1
#   55 -121.891556 36.794742 -443.150475 12011.366609 1
#   56 -121.895109 36.793334 -451.135635 12364.782578 1
#   57 -121.896827 36.793664 -458.036751 12522.385506 1
#   58 -121.897742 36.794460 -461.254723 12642.652337 1
#   59 -121.898003 36.796368 -468.381996 12855.608022 1
#   60 -121.897667 36.797719 -449.675789 13008.460260 1
#   61 -121.898563 36.797990 -456.403946 13093.869599 1
#   62 -121.900767 36.797389 -485.094948 13301.511088 1
#   63 -121.903624 36.796578 -492.087715 13571.833101 1
#   64 -121.904109 36.795241 -486.896004 13726.346622 1
#   65 -121.903344 36.792883 -497.306618 13996.707361 1
#   66 -121.903176 36.790405 -523.096359 14272.031124 1
#   67 -121.903008 36.787205 -532.294815 14627.363151 1
#   68 -121.902896 36.784502 -537.710236 14927.406806 1
#   69 -121.903960 36.782248 -549.931976 15194.890248 1
#   70 -121.902653 36.780101 -540.725723 15460.107718 1
#   71 -121.899628 36.777938 -566.559296 15821.305578 1
#   72 -121.898395 36.777081 -574.437363 15966.730500 1
#   73 -121.898115 36.776045 -575.564926 16084.351846 1
#   74 -121.899815 36.774228 -585.260605 16336.650821 1
#   75 -121.901645 36.773431 -592.584213 16522.375956 1
#   76 -121.906313 36.773732 -600.244537 16940.329797 1
#   77 -121.909954 36.774453 -597.027939 17274.985620 1
#   78 -121.913595 36.776165 -612.676498 17651.372576 1
#   79 -121.916714 36.777667 -625.286942 17975.794870 1
#   80 -121.919813 36.779905 -641.034393 18347.460363 1
#   81 -121.921886 36.781618 -652.070663 18612.677756 1
#   82 -121.924052 36.783570 -660.238953 18902.951999 1
#   83 -121.925863 36.785538 -671.487793 19174.588658 1
#   84 -121.927763 36.785690 -679.842697 19344.972322 1
#   85 -121.929504 36.784772 -686.004242 19530.737907 1
#   86 -121.931334 36.783570 -691.587311 19741.571459 1
#   87 -121.934135 36.781993 -701.448273 20046.674285 1
#   88 -121.936544 36.780867 -712.689056 20295.312777 1
#   89 -121.939532 36.780716 -724.035324 20562.489724 1
#   90 -121.943229 36.780626 -729.746796 20892.563974 1
#   91 -121.947020 36.780596 -736.881989 21230.892176 1
#   92 -121.950904 36.780536 -752.614975 21577.567240 1
#   93 -121.952976 36.780266 -753.674484 21764.884900 1
#   94 -121.955049 36.780040 -761.563934 21951.573139 1
#   95 -121.956729 36.779049 -774.125275 22137.490447 1
#   96 -121.958055 36.777081 -786.894226 22385.829686 1
#   97 -121.959736 36.775054 -790.125427 22656.156121 1
#   98 -121.962201 36.772891 -801.177628 22981.704498 1
#   99 -121.964609 36.769917 -815.815506 23375.465837 1
#   100 -121.966141 36.767919 -821.753479 23635.907522 1
#   101 -121.968886 36.764539 -834.515152 24083.835343 1
#   102 -121.970940 36.762527 -827.255325 24372.690483 1
#   103 -121.973479 36.760889 -837.532013 24663.183944 1
#   104 -121.976168 36.759673 -851.490051 24938.526448 1
#   105 -121.978390 36.758741 -854.706146 25162.205363 1
#   106 -121.980911 36.758336 -866.682648 25391.685868 1
#   107 -121.982647 36.758922 -869.839142 25559.735241 1
#   108 -121.983768 36.759823 -880.524033 25701.172669 1
#   109 -121.985280 36.761490 -885.254120 25930.121358 1
#   110 -121.986643 36.763142 -892.136124 26150.100583 1
#   111 -121.987409 36.765411 -897.063400 26410.943824 1
#   112 -121.987988 36.768324 -909.141373 26738.218217 1
#   113 -121.988025 36.770232 -921.933701 26949.917660 1
#   114 -121.988585 36.772440 -932.879120 27199.920412 1
#   115 -121.990957 36.773957 -943.995453 27470.363532 1
#   116 -121.995606 36.774137 -961.576218 27885.755572 1
#   117 -121.999808 36.774363 -972.164581 28261.609577 1
#   118 -122.004009 36.774723 -981.543243 28638.656584 1
#   119 -122.007482 36.775715 -989.305420 28967.565767 1
#   120 -122.010097 36.777667 -1004.841614 29285.935115 1
#   121 -122.013588 36.778553 -1008.315979 29612.618549 1
#   122 -122.016035 36.779785 -997.601349 29870.237785 1
#   123 -122.019022 36.781167 -1012.524963 30177.744225 1
#   124 -122.020796 36.782218 -1008.880035 30374.357019 3
#   125 -122.019302 36.783916 -1029.020386 30605.137048 3
#   126 -122.014989 36.781753 -1019.578140 31058.693852 1
#   127 -122.010657 36.780236 -1003.703262 31480.322300 1
#   128 -122.007968 36.778028 -984.287460 31823.234235 1
#   129 -122.006194 36.776526 -965.465439 32053.083524 1
#   130 -122.000984 36.775579 -961.738037 32529.771613 1
#   131 -121.995028 36.775594 -948.840302 33061.321385 1
#   132 -121.989052 36.774948 -941.591888 33599.449912 1
#   133 -121.987409 36.773612 -929.355621 33807.942973 1
#   134 -121.986849 36.769241 -913.252396 34295.431265 1
#   135 -121.985411 36.766116 -890.049057 34665.114691 1
#   136 -121.983544 36.764014 -880.677094 34951.734502 1
#   137 -121.983376 36.761040 -876.641602 35282.010857 1
#   138 -121.981490 36.759628 -861.256042 35511.968488 1
#   139 -121.978297 36.761565 -854.084076 35868.918547 1
#   140 -121.971126 36.766432 -806.839355 36706.321921 1
#   141 -121.965580 36.771659 -797.085617 37468.748505 1
#   142 -121.962257 36.775414 -788.171204 37980.115826 1
#   143 -121.960576 36.777667 -784.656250 38271.631157 1
#   144 -121.957346 36.779094 -780.838623 38600.498925 1
#   145 -121.955441 36.781347 -767.919373 38902.784306 1
#   146 -121.952565 36.781858 -758.986694 39165.623576 1
#   147 -121.946906 36.781684 -743.401962 39670.997916 1
#   148 -121.941941 36.782023 -728.146072 40115.664654 1
#   149 -121.937963 36.782654 -683.070694 40477.493449 1
#   150 -121.934976 36.783841 -691.558472 40774.802092 1
#   151 -121.930121 36.785718 -689.721451 41255.490344 1
#   152 -121.927749 36.787310 -681.239655 41531.163796 1
#   153 -121.926461 36.788392 -665.241928 41697.352481 1
#   154 -121.925284 36.787806 -654.735672 41820.872271 1
#   155 -121.923679 36.785628 -652.536926 42101.759941 1
#   156 -121.919365 36.781753 -643.098099 42678.835883 1
#   157 -121.915150 36.778716 -630.012360 43183.824994 1
#   158 -121.912568 36.776901 -621.826080 43489.837257 1
#   159 -121.908255 36.775324 -609.212769 43912.653387 1
#   160 -121.905472 36.774543 -602.218109 44175.710106 1
#   161 -121.901925 36.773882 -589.271088 44500.659065 1
#   162 -121.900356 36.774243 -585.331635 44646.305820 1
#   163 -121.899404 36.775189 -568.498947 44781.338251 1
#   164 -121.898956 36.776451 -571.932678 44926.944479 1
#   165 -121.899964 36.777352 -569.616348 45061.423417 1
#   166 -121.903437 36.778839 -559.522781 45412.538970 1
#   167 -121.906070 36.780461 -545.945740 45708.503585 1
#   168 -121.905304 36.782248 -541.621521 45918.211466 1
#   169 -121.904165 36.784967 -532.650269 46236.527443 1
#   170 -121.904296 36.789999 -517.012573 46794.911683 1
#   171 -121.904670 36.791997 -518.549637 47019.072626 1
#   172 -121.905977 36.794280 -508.549950 47297.912537 1
#   173 -121.906537 36.795857 -506.458321 47479.863809 1
#   174 -121.905622 36.797224 -482.679550 47652.099681 1
#   175 -121.901495 36.798425 -489.956345 48043.683146 1
#   176 -121.899124 36.799387 -487.686363 48280.622938 1
#   177 -121.897294 36.799552 -483.346039 48444.918148 1
#   178 -121.895109 36.798831 -475.572662 48655.636728 1
#   179 -121.894717 36.797840 -460.799896 48771.009925 1
#   180 -121.895333 36.796443 -449.204536 48935.453517 1
#   181 -121.894661 36.795722 -447.440231 49035.420316 1
#   182 -121.893130 36.795827 -435.903648 49172.518316 1
#   183 -121.891076 36.796353 -443.475883 49364.850719 1
#   184 -121.889283 36.796893 -441.488998 49535.677656 1
#   185 -121.887490 36.797434 -436.801552 49706.542548 1
#   186 -121.884223 36.797224 -429.467201 49998.962126 1
#   187 -121.882393 36.796037 -419.726028 50208.728785 1
#   188 -121.880413 36.794160 -417.565002 50481.812591 1
#   189 -121.878061 36.793033 -406.010651 50726.097691 1
#   190 -121.875222 36.793559 -402.869141 50986.049035 1
#   191 -121.872421 36.794415 -397.664658 51253.407808 1
#   192 -121.869396 36.795632 -387.440048 51555.201951 1
#   193 -121.866689 36.796908 -351.775528 51835.160638 1
#   194 -121.864336 36.798711 -333.043129 52125.138797 1
#   195 -121.862039 36.800333 -358.964142 52397.869966 1
#   196 -121.861554 36.801895 -354.102837 52576.484556 1
#   197 -121.860826 36.802887 -350.002937 52704.276811 1
#   198 -121.858753 36.803112 -345.104576 52890.899525 1
#   199 -121.856904 36.802436 -337.746513 53072.109592 1
#   200 -121.855940 36.801168 -334.179337 53236.994335 1
#   201 -121.854819 36.799768 -328.142807 53421.731199 1
#   202 -121.853680 36.798610 -315.273941 53585.537362 1
#   203 -121.852447 36.797546 -304.982193 53746.896814 1
#   204 -121.851102 36.796369 -308.593140 53924.246034 1
#   205 -121.849701 36.795641 -306.706375 54073.072433 1
#   206 -121.848132 36.795137 -300.204422 54223.820948 1
#   207 -121.846283 36.794465 -293.214104 54404.863777 1
#   208 -121.844452 36.793718 -287.328094 54588.056582 1
#   209 -121.842136 36.793064 -279.246452 54807.076164 1
#   210 -121.839857 36.792485 -269.850266 55020.332951 1
#   211 -121.837503 36.792037 -263.549629 55236.179308 1
#   212 -121.835635 36.791888 -256.300446 55403.678160 1
#   213 -121.834178 36.791608 -249.569340 55537.346063 1
#   214 -121.833337 36.791047 -240.275368 55634.840723 1
#   215 -121.832235 36.790412 -236.069809 55755.805523 1
#   216 -121.831059 36.789796 -233.511322 55881.034561 1
#   217 -121.829826 36.789740 -228.482319 55991.233390 1
#   218 -121.828294 36.790095 -231.164745 56133.497681 1
#   219 -121.827117 36.790599 -228.233524 56252.480921 1
#   220 -121.826164 36.791215 -226.673950 56361.576887 1
#   221 -121.825100 36.791888 -222.875793 56482.360879 1
#   222 -121.824259 36.792448 -216.919640 56579.784328 1
#   223 -121.823269 36.793213 -214.228035 56702.286212 1
#   224 -121.822821 36.794558 -209.237309 56856.768007 1
#   225 -121.822653 36.795566 -206.292473 56969.600225 1
#   226 -121.822597 36.796631 -203.096378 57087.861740 1
#   227 -121.822484 36.797695 -200.974106 57206.336518 1
#   228 -121.822410 36.798554 -197.154713 57301.866333 1
#   229 -121.822148 36.799320 -191.901207 57390.006265 1
#   230 -121.821700 36.799824 -190.796265 57458.739785 1
#   231 -121.820616 36.799787 -187.372787 57555.542369 1
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#   235 -121.814228 36.799058 -161.825287 58164.901780 1
#   236 -121.813742 36.800104 -157.932919 58288.786512 1
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#   240 -121.809296 36.802532 -138.524292 58791.815302 1
#   241 -121.807578 36.802961 -131.144505 58952.311129 1
#   242 -121.805616 36.803857 -114.199736 59153.612078 1
#   243 -121.803580 36.804716 -110.825325 59358.738812 1
#   244 -121.802123 36.805053 -103.134722 59493.995952 1
#   245 -121.801843 36.804156 -90.023331 59596.601138 4
#   246 -121.801582 36.803185 -115.223200 59706.816815 1
#   247 -121.802852 36.803148 -112.746939 59820.197303 1
#   248 -121.804925 36.802980 -124.392689 60006.082059 1
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#   250 -121.808811 36.802289 -143.905285 60361.887866 1
#   251 -121.810249 36.801747 -151.414177 60503.577100 1
#   252 -121.811930 36.801019 -148.342472 60673.920166 1
#   253 -121.812846 36.800384 -156.926903 60781.819543 1
#   254 -121.813350 36.799880 -159.591278 60853.573811 1
#   255 -121.814134 36.798760 -162.056572 60996.167880 1
#   256 -121.815293 36.798386 -170.969269 61107.590932 1
#   257 -121.816544 36.798479 -175.677921 61219.684342 1
#   258 -121.818767 36.799114 -180.437801 61430.165484 1
#   259 -121.819682 36.799432 -184.314411 61519.100474 1
#   260 -121.820897 36.799843 -188.396774 61636.703897 1
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#   262 -121.822186 36.798946 -193.526016 61818.121321 1
#   263 -121.822204 36.797807 -199.072941 61944.497393 1
#   264 -121.822260 36.796295 -204.215763 62112.319945 1
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#   266 -121.822522 36.794297 -210.773357 62335.627431 1
#   267 -121.822914 36.793288 -215.188606 62452.907624 1
#   268 -121.823885 36.792485 -216.129261 62577.179317 1
#   269 -121.824614 36.791925 -221.714779 62667.130957 1
#   270 -121.825660 36.791159 -224.878403 62793.359356 1
#   271 -121.826669 36.790599 -226.959850 62902.749315 1
#   272 -121.827976 36.789908 -230.008591 63042.315738 1
#   273 -121.829415 36.789423 -233.336216 63181.539685 1
#   274 -121.830890 36.789348 -232.443066 63313.420897 1
#   275 -121.832105 36.789703 -237.532841 63428.770743 1
#   276 -121.833337 36.790207 -246.495502 63552.107946 1
#   277 -121.834645 36.790749 -249.698364 63683.402159 1
#   278 -121.836756 36.791271 -257.631989 63880.470091 1
#   279 -121.838792 36.791813 -267.318291 64071.835658 1
#   280 -121.840473 36.792149 -272.961433 64226.393415 1
#   281 -121.842379 36.792653 -280.514801 64405.420283 1
#   282 -121.844265 36.793176 -287.022446 64583.427490 1
#   283 -121.845946 36.793792 -293.352623 64748.255064 1
#   284 -121.848879 36.794894 -304.394630 65037.107116 1
#   285 -121.851289 36.796014 -313.288704 65285.459911 1
#   286 -121.852634 36.797023 -315.506508 65449.571534 1
#   287 -121.853867 36.798199 -320.660912 65620.231948 1
#   288 -121.855025 36.799562 -327.953537 65803.374133 1
#   289 -121.858473 36.801850 -334.714951 66202.208942 1
#   290 -121.860079 36.801730 -330.992638 66346.110018 1
#   291 -121.861255 36.799612 -359.571938 66603.449339 1
#   292 -121.863459 36.797479 -358.294327 66911.132181 1
#   293 -121.865232 36.796232 -371.500725 67121.286572 1
#   294 -121.870187 36.794297 -389.376678 67612.761787 1
#   295 -121.872858 36.793407 -390.544189 67870.731240 1
#   296 -121.877458 36.792368 -409.830551 68297.058512 1
#   297 -121.881086 36.793979 -421.081581 68666.838202 1
#   298 -121.884409 36.796398 -430.834206 69066.753548 1
#   299 -121.887378 36.796983 -433.287628 69339.492034 1
#   300 -121.894866 36.794565 -450.379807 70059.447298 1
#   301 -121.896267 36.795061 -447.368950 70196.027600 1
#   302 -121.896622 36.796398 -457.025848 70347.702172 1
#   303 -121.896285 36.798155 -476.485016 70544.933911 1
#   304 -121.898078 36.798876 -469.559883 70723.790702 1
#   305 -121.901795 36.797859 -490.738609 71074.093194 1
#   306 -121.904016 36.797074 -499.732147 71290.548467 1
#   307 -121.905398 36.796052 -501.463310 71458.060226 1
#   308 -121.903997 36.791952 -516.649567 71929.788662 1
#   309 -121.903736 36.788197 -526.455612 72347.027846 1
#   310 -121.903437 36.784787 -538.741745 72726.280926 1
#   311 -121.904800 36.780987 -551.686981 73165.057289 1
#   312 -121.903724 36.779903 -553.585800 73318.951496 1
#   313 -121.899012 36.777126 -573.608383 73840.250550 1
#   314 -121.898582 36.776300 -573.434448 73939.599874 1
#   315 -121.899124 36.775099 -578.929199 74081.350337 1
#   316 -121.900904 36.773819 -588.957184 74294.430380 1
#   317 -121.903997 36.773837 -597.857117 74570.486179 1
#   318 -121.908927 36.774648 -607.126480 75019.588343 1
#   319 -121.911354 36.775805 -615.055313 75271.369221 1
#   320 -121.914921 36.777532 -628.314041 75642.919858 1
#   321 -121.917376 36.779161 -636.869324 75926.932942 1
#   322 -121.921531 36.782574 -654.935715 76456.896677 1
#   323 -121.925389 36.786284 -671.436646 76993.492766 1
#   324 -121.927170 36.786729 -679.851303 77159.910539 1
#   325 -121.929841 36.785394 -690.333878 77440.525240 1
#   326 -121.932455 36.783796 -693.670349 77733.513283 1
#   327 -121.935200 36.782534 -695.451889 78015.660294 1
#   328 -121.939756 36.781573 -722.557205 78435.980613 1
#   329 -121.944051 36.781227 -735.384186 78821.183480 1
#   330 -121.948831 36.781167 -750.049835 79247.803021 1
#   331 -121.953985 36.781077 -761.094223 79707.854762 1
#   332 -121.955721 36.780176 -764.289612 79892.224770 1
#   333 -121.958926 36.777677 -786.196823 80290.560748 1
#   334 -121.961894 36.774264 -794.117447 80752.655330 1
#   335 -121.964120 36.771593 -808.361328 81109.413674 1
#   336 -121.966477 36.769181 -815.914200 81449.793277 1
#   337 -121.970790 36.764629 -833.528259 82084.790872 1
#   338 -121.978446 36.760003 -860.805038 82939.425414 1
#   339 -121.982274 36.759222 -867.137650 83291.943737 1
#   340 -121.984048 36.760679 -884.562866 83518.225614 1
#   341 -121.986082 36.764767 -894.989868 84006.739403 1
#   342 -121.987409 36.769106 -915.777725 84502.465862 1
#   343 -121.988308 36.773226 -937.187073 84966.528278 1
#   344 -121.991424 36.774561 -950.960587 85281.603705 1
#   345 -121.996092 36.774873 -963.140976 85699.642953 1
#   346 -122.002161 36.775084 -974.554688 86241.784631 1
#   347 -122.006586 36.776075 -979.946426 86651.714235 1
#   348 -122.014485 36.780401 -1012.079224 87504.502790 1
#   349 -122.019844 36.783075 -1029.818329 88067.267722 4
# 
# A total of 1038 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 62308;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 1004.649142;
abortDepth = 1029.649142;
minAltitude = 50.000000;
abortAltitude = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 1235;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# 
# Acoustic update - 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 349
#   Segment length 101.572836 meters
#   Minimum depth: 1029.616742 meters looking forward 100.000000 meters along route
#   Maximum depth: 1029.818329 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 979.616742 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783075;
longitude = -122.019844;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 979.398472;
finalDepth = 979.616742;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.201587
#   Actual altitude: 50.201587
#   Commanded vehicle depth:979.616742 
#   Seafloor depth:-1029.818329
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 200.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 349
#   Segment length 101.572836 meters
#   Minimum depth: 1029.398472 meters looking forward 100.000000 meters along route
#   Maximum depth: 1029.658099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 979.398472 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782786;
longitude = -122.019265;
captureRadius = 10;
duration = 101;
initialDepth = 975.356137;
finalDepth = 979.398472;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.201587
#   Actual altitude: 50.201587
#   Commanded vehicle depth:979.398472 
#   Seafloor depth:-1029.537307
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 200.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 349
#   Segment length 101.572836 meters
#   Minimum depth: 1025.356137 meters looking forward 100.000000 meters along route
#   Maximum depth: 1029.308872 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 975.356137 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782311;
longitude = -122.018313;
captureRadius = 10;
duration = 101;
initialDepth = 972.025933;
finalDepth = 975.356137;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.9527350000001
#   Actual altitude: 53.9527350000001
#   Commanded vehicle depth:975.356137 
#   Seafloor depth:-1029.308872
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 349
#   Segment length 101.572836 meters
#   Minimum depth: 1022.025933 meters looking forward 100.000000 meters along route
#   Maximum depth: 1025.098443 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 972.025933 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781836;
longitude = -122.017360;
captureRadius = 10;
duration = 101;
initialDepth = 967.303693;
finalDepth = 972.025933;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.9527350000001
#   Actual altitude: 53.9527350000001
#   Commanded vehicle depth:972.025933 
#   Seafloor depth:-1025.098443
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 349
#   Segment length 101.572836 meters
#   Minimum depth: 1017.303693 meters looking forward 100.000000 meters along route
#   Maximum depth: 1021.917604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 967.303693 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781361;
longitude = -122.016408;
captureRadius = 10;
duration = 101;
initialDepth = 961.864363;
finalDepth = 967.303693;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.613911
#   Actual altitude: 54.613911
#   Commanded vehicle depth:967.303693 
#   Seafloor depth:-1021.917604
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.92;
MB_Bottom_Detect_Filter_Max_Range = 218.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 349
#   Segment length 101.572836 meters
#   Minimum depth: 1011.864363 meters looking forward 100.000000 meters along route
#   Maximum depth: 1017.267516 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 961.864363 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780882;
longitude = -122.015448;
captureRadius = 10;
duration = 101;
initialDepth = 961.864363;
finalDepth = 961.864363;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.403153
#   Actual altitude: 55.403153
#   Commanded vehicle depth:961.864363 
#   Seafloor depth:-1017.267516
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 348
#   Segment length 101.572836 meters
#   Minimum depth: 1011.864363 meters looking forward 100.000000 meters along route
#   Maximum depth: 1014.773900 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 961.864363 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780401;
longitude = -122.014485;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 962.556520;
finalDepth = 961.864363;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.403153
#   Actual altitude: 55.403153
#   Commanded vehicle depth:961.864363 
#   Seafloor depth:-1012.079224
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 1012.556520 meters looking forward 100.000000 meters along route
#   Maximum depth: 1013.097275 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 962.556520 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780251;
longitude = -122.014211;
captureRadius = 10;
duration = 101;
initialDepth = 961.337727;
finalDepth = 962.556520;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.2148609999999
#   Actual altitude: 50.2148609999999
#   Commanded vehicle depth:962.55652 
#   Seafloor depth:-1012.690705
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.86;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 200.86;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 1011.337727 meters looking forward 100.000000 meters along route
#   Maximum depth: 1012.532538 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 961.337727 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779736;
longitude = -122.013271;
captureRadius = 10;
duration = 101;
initialDepth = 959.313744;
finalDepth = 961.337727;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.187984
#   Actual altitude: 51.187984
#   Commanded vehicle depth:961.337727 
#   Seafloor depth:-1012.525711
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 1009.313744 meters looking forward 100.000000 meters along route
#   Maximum depth: 1011.335145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 959.313744 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779214;
longitude = -122.012318;
captureRadius = 10;
duration = 101;
initialDepth = 956.539920;
finalDepth = 959.313744;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.021401
#   Actual altitude: 52.021401
#   Commanded vehicle depth:959.313744 
#   Seafloor depth:-1011.335145
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.40;
MB_Bottom_Detect_Filter_Max_Range = 208.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 1006.539920 meters looking forward 100.000000 meters along route
#   Maximum depth: 1009.407891 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 956.539920 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778693;
longitude = -122.011366;
captureRadius = 10;
duration = 101;
initialDepth = 954.565313;
finalDepth = 956.539920;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.851101
#   Actual altitude: 52.851101
#   Commanded vehicle depth:956.53992 
#   Seafloor depth:-1009.391021
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 1004.565313 meters looking forward 100.000000 meters along route
#   Maximum depth: 1006.484427 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 954.565313 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778171;
longitude = -122.010414;
captureRadius = 10;
duration = 101;
initialDepth = 947.522400;
finalDepth = 954.565313;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.851101
#   Actual altitude: 52.851101
#   Commanded vehicle depth:954.565313 
#   Seafloor depth:-1006.484427
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 997.522400 meters looking forward 100.000000 meters along route
#   Maximum depth: 1004.491098 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.522400 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777637;
longitude = -122.009438;
captureRadius = 10;
duration = 101;
initialDepth = 935.241510;
finalDepth = 947.522400;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.968698
#   Actual altitude: 56.968698
#   Commanded vehicle depth:947.5224 
#   Seafloor depth:-1004.491098
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.87;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.39;
MB_Bottom_Detect_Filter_Max_Range = 227.87;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.87;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 985.241510 meters looking forward 100.000000 meters along route
#   Maximum depth: 997.199000 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 935.241510 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777128;
longitude = -122.008509;
captureRadius = 10;
duration = 101;
initialDepth = 929.083067;
finalDepth = 935.241510;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.95749
#   Actual altitude: 61.95749
#   Commanded vehicle depth:935.24151 
#   Seafloor depth:-997.199000
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 247.83;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.39;
MB_Bottom_Detect_Filter_Max_Range = 247.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 247.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 348
#   Segment length 101.572836 meters
#   Minimum depth: 979.083067 meters looking forward 100.000000 meters along route
#   Maximum depth: 985.035210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 929.083067 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776601;
longitude = -122.007546;
captureRadius = 10;
duration = 101;
initialDepth = 927.034941;
finalDepth = 929.083067;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.95749
#   Actual altitude: 61.95749
#   Commanded vehicle depth:929.083067 
#   Seafloor depth:-985.035210
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 247.83;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.39;
MB_Bottom_Detect_Filter_Max_Range = 247.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 247.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 347
#   Segment length 101.572836 meters
#   Minimum depth: 977.034941 meters looking forward 100.000000 meters along route
#   Maximum depth: 980.392024 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 927.034941 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776075;
longitude = -122.006586;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 925.806331;
finalDepth = 927.034941;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.952143
#   Actual altitude: 55.952143
#   Commanded vehicle depth:927.034941 
#   Seafloor depth:-979.946426
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.19;
MB_Bottom_Detect_Filter_Max_Range = 223.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 347
#   Segment length 101.572836 meters
#   Minimum depth: 975.806331 meters looking forward 100.000000 meters along route
#   Maximum depth: 977.060080 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 925.806331 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775828;
longitude = -122.005484;
captureRadius = 10;
duration = 101;
initialDepth = 925.146055;
finalDepth = 925.806331;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.911485
#   Actual altitude: 52.911485
#   Commanded vehicle depth:925.806331 
#   Seafloor depth:-976.981795
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.58;
MB_Bottom_Detect_Filter_Max_Range = 211.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 347
#   Segment length 101.572836 meters
#   Minimum depth: 975.146055 meters looking forward 100.000000 meters along route
#   Maximum depth: 976.067267 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 925.146055 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775577;
longitude = -122.004364;
captureRadius = 10;
duration = 101;
initialDepth = 923.739052;
finalDepth = 925.146055;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.175464
#   Actual altitude: 51.175464
#   Commanded vehicle depth:925.146055 
#   Seafloor depth:-976.025418
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 347
#   Segment length 101.572836 meters
#   Minimum depth: 973.739052 meters looking forward 100.000000 meters along route
#   Maximum depth: 974.926586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 923.739052 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775326;
longitude = -122.003244;
captureRadius = 10;
duration = 101;
initialDepth = 922.852304;
finalDepth = 923.739052;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.117111
#   Actual altitude: 51.117111
#   Commanded vehicle depth:923.739052 
#   Seafloor depth:-974.856163
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.22;
MB_Bottom_Detect_Filter_Max_Range = 204.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 346
#   Segment length 101.572836 meters
#   Minimum depth: 972.852304 meters looking forward 100.000000 meters along route
#   Maximum depth: 974.926586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 922.852304 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775084;
longitude = -122.002161;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 918.212383;
finalDepth = 922.852304;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.7023840000001
#   Actual altitude: 51.7023840000001
#   Commanded vehicle depth:922.852304 
#   Seafloor depth:-974.554688
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.34;
MB_Bottom_Detect_Filter_Max_Range = 206.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 346
#   Segment length 101.572836 meters
#   Minimum depth: 968.212383 meters looking forward 100.000000 meters along route
#   Maximum depth: 972.575579 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 918.212383 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775069;
longitude = -122.001731;
captureRadius = 10;
duration = 101;
initialDepth = 917.527885;
finalDepth = 918.212383;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.3631959999999
#   Actual altitude: 54.3631959999999
#   Commanded vehicle depth:918.212383 
#   Seafloor depth:-972.575579
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.87;
MB_Bottom_Detect_Filter_Max_Range = 217.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 346
#   Segment length 101.572836 meters
#   Minimum depth: 967.527885 meters looking forward 100.000000 meters along route
#   Maximum depth: 969.123863 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 917.527885 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775030;
longitude = -122.000611;
captureRadius = 10;
duration = 101;
initialDepth = 918.014723;
finalDepth = 917.527885;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.3631959999999
#   Actual altitude: 54.3631959999999
#   Commanded vehicle depth:917.527885 
#   Seafloor depth:-968.096023
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.87;
MB_Bottom_Detect_Filter_Max_Range = 217.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 346
#   Segment length 101.572836 meters
#   Minimum depth: 968.014723 meters looking forward 100.000000 meters along route
#   Maximum depth: 968.666075 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 918.014723 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774991;
longitude = -121.999490;
captureRadius = 10;
duration = 101;
initialDepth = 915.850425;
finalDepth = 918.014723;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.614726
#   Actual altitude: 50.614726
#   Commanded vehicle depth:918.014723 
#   Seafloor depth:-968.629449
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 346
#   Segment length 101.572836 meters
#   Minimum depth: 965.850425 meters looking forward 100.000000 meters along route
#   Maximum depth: 967.892982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 915.850425 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774952;
longitude = -121.998370;
captureRadius = 10;
duration = 101;
initialDepth = 913.196020;
finalDepth = 915.850425;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.042557
#   Actual altitude: 52.042557
#   Commanded vehicle depth:915.850425 
#   Seafloor depth:-967.892982
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 346
#   Segment length 101.572836 meters
#   Minimum depth: 963.196020 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.961305 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 913.196020 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774913;
longitude = -121.997250;
captureRadius = 10;
duration = 101;
initialDepth = 912.886836;
finalDepth = 913.196020;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.7652850000001
#   Actual altitude: 52.7652850000001
#   Commanded vehicle depth:913.19602 
#   Seafloor depth:-965.961305
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 345
#   Segment length 101.572836 meters
#   Minimum depth: 962.886836 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.333575 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 912.886836 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774873;
longitude = -121.996092;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 910.616998;
finalDepth = 912.886836;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.7652850000001
#   Actual altitude: 52.7652850000001
#   Commanded vehicle depth:912.886836 
#   Seafloor depth:-963.140976
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 345
#   Segment length 101.572836 meters
#   Minimum depth: 960.616998 meters looking forward 100.000000 meters along route
#   Maximum depth: 963.259728 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 910.616998 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774861;
longitude = -121.995905;
captureRadius = 10;
duration = 101;
initialDepth = 908.558370;
finalDepth = 910.616998;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.288325
#   Actual altitude: 52.288325
#   Commanded vehicle depth:910.616998 
#   Seafloor depth:-962.905323
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.46;
MB_Bottom_Detect_Filter_Max_Range = 209.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 345
#   Segment length 101.572836 meters
#   Minimum depth: 958.558370 meters looking forward 100.000000 meters along route
#   Maximum depth: 960.258870 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 908.558370 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774786;
longitude = -121.994785;
captureRadius = 10;
duration = 101;
initialDepth = 902.519467;
finalDepth = 908.558370;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.288325
#   Actual altitude: 52.288325
#   Commanded vehicle depth:908.55837 
#   Seafloor depth:-960.258870
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.46;
MB_Bottom_Detect_Filter_Max_Range = 209.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 345
#   Segment length 101.572836 meters
#   Minimum depth: 952.519467 meters looking forward 100.000000 meters along route
#   Maximum depth: 958.301382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 902.519467 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774711;
longitude = -121.993664;
captureRadius = 10;
duration = 101;
initialDepth = 901.018934;
finalDepth = 902.519467;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.781915
#   Actual altitude: 55.781915
#   Commanded vehicle depth:902.519467 
#   Seafloor depth:-958.301382
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.16;
MB_Bottom_Detect_Filter_Max_Range = 223.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 345
#   Segment length 101.572836 meters
#   Minimum depth: 951.018934 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.124546 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 901.018934 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774636;
longitude = -121.992544;
captureRadius = 10;
duration = 101;
initialDepth = 900.942569;
finalDepth = 901.018934;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.781915
#   Actual altitude: 55.781915
#   Commanded vehicle depth:901.018934 
#   Seafloor depth:-952.124546
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.16;
MB_Bottom_Detect_Filter_Max_Range = 223.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 344
#   Segment length 101.572836 meters
#   Minimum depth: 950.942569 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.048730 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 900.942569 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774561;
longitude = -121.991424;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 891.685883;
finalDepth = 900.942569;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1056120000001
#   Actual altitude: 51.1056120000001
#   Commanded vehicle depth:900.942569 
#   Seafloor depth:-950.960587
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.22;
MB_Bottom_Detect_Filter_Max_Range = 204.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 344
#   Segment length 101.572836 meters
#   Minimum depth: 941.685883 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.848937 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 891.685883 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774537;
longitude = -121.991368;
captureRadius = 10;
duration = 101;
initialDepth = 885.290606;
finalDepth = 891.685883;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.163054
#   Actual altitude: 59.163054
#   Commanded vehicle depth:891.685883 
#   Seafloor depth:-950.848937
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 236.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.83;
MB_Bottom_Detect_Filter_Max_Range = 236.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 236.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 344
#   Segment length 101.572836 meters
#   Minimum depth: 935.290606 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.039787 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 885.290606 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774105;
longitude = -121.990359;
captureRadius = 10;
duration = 101;
initialDepth = 886.409512;
finalDepth = 885.290606;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.163054
#   Actual altitude: 59.163054
#   Commanded vehicle depth:885.290606 
#   Seafloor depth:-941.039787
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 236.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.83;
MB_Bottom_Detect_Filter_Max_Range = 236.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 236.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 344
#   Segment length 101.572836 meters
#   Minimum depth: 936.409512 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.575592 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.409512 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773672;
longitude = -121.989348;
captureRadius = 10;
duration = 101;
initialDepth = 885.087460;
finalDepth = 886.409512;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.749181
#   Actual altitude: 55.749181
#   Commanded vehicle depth:886.409512 
#   Seafloor depth:-936.409512
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.15;
MB_Bottom_Detect_Filter_Max_Range = 223.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 343
#   Segment length 101.572836 meters
#   Minimum depth: 935.087460 meters looking forward 100.000000 meters along route
#   Maximum depth: 937.575592 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 885.087460 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773226;
longitude = -121.988308;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 879.803904;
finalDepth = 885.087460;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.0996130000001
#   Actual altitude: 52.0996130000001
#   Commanded vehicle depth:885.08746 
#   Seafloor depth:-937.187073
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.42;
MB_Bottom_Detect_Filter_Max_Range = 208.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 343
#   Segment length 101.572836 meters
#   Minimum depth: 929.803904 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.904291 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 879.803904 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772725;
longitude = -121.988199;
captureRadius = 10;
duration = 101;
initialDepth = 875.961956;
finalDepth = 879.803904;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.100387
#   Actual altitude: 55.100387
#   Commanded vehicle depth:879.803904 
#   Seafloor depth:-934.904291
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 343
#   Segment length 101.572836 meters
#   Minimum depth: 925.961956 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.712607 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.961956 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771824;
longitude = -121.988002;
captureRadius = 10;
duration = 101;
initialDepth = 874.588118;
finalDepth = 875.961956;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.100387
#   Actual altitude: 55.100387
#   Commanded vehicle depth:875.961956 
#   Seafloor depth:-929.712607
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 343
#   Segment length 101.572836 meters
#   Minimum depth: 924.588118 meters looking forward 100.000000 meters along route
#   Maximum depth: 926.452733 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 874.588118 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770923;
longitude = -121.987805;
captureRadius = 10;
duration = 101;
initialDepth = 865.981139;
finalDepth = 874.588118;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.7506510000001
#   Actual altitude: 53.7506510000001
#   Commanded vehicle depth:874.588118 
#   Seafloor depth:-926.034117
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 215.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 343
#   Segment length 101.572836 meters
#   Minimum depth: 915.981139 meters looking forward 100.000000 meters along route
#   Maximum depth: 924.441849 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 865.981139 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770022;
longitude = -121.987609;
captureRadius = 10;
duration = 101;
initialDepth = 858.535896;
finalDepth = 865.981139;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.4607100000001
#   Actual altitude: 58.4607100000001
#   Commanded vehicle depth:865.981139 
#   Seafloor depth:-924.441849
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 233.84;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.69;
MB_Bottom_Detect_Filter_Max_Range = 233.84;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 233.84;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 342
#   Segment length 101.572836 meters
#   Minimum depth: 908.535896 meters looking forward 100.000000 meters along route
#   Maximum depth: 916.867546 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 858.535896 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769106;
longitude = -121.987409;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 849.693306;
finalDepth = 858.535896;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.4607100000001
#   Actual altitude: 58.4607100000001
#   Commanded vehicle depth:858.535896 
#   Seafloor depth:-915.777725
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 233.84;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.69;
MB_Bottom_Detect_Filter_Max_Range = 233.84;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 233.84;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 342
#   Segment length 101.572836 meters
#   Minimum depth: 899.693306 meters looking forward 100.000000 meters along route
#   Maximum depth: 907.863798 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.693306 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.768355;
longitude = -121.987179;
captureRadius = 10;
duration = 101;
initialDepth = 847.939369;
finalDepth = 849.693306;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.170492
#   Actual altitude: 58.170492
#   Commanded vehicle depth:849.693306 
#   Seafloor depth:-907.863798
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 232.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.63;
MB_Bottom_Detect_Filter_Max_Range = 232.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 232.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 342
#   Segment length 101.572836 meters
#   Minimum depth: 897.939369 meters looking forward 100.000000 meters along route
#   Maximum depth: 899.783273 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 847.939369 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767453;
longitude = -121.986904;
captureRadius = 10;
duration = 101;
initialDepth = 842.055425;
finalDepth = 847.939369;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.170492
#   Actual altitude: 58.170492
#   Commanded vehicle depth:847.939369 
#   Seafloor depth:-899.463797
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 232.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.63;
MB_Bottom_Detect_Filter_Max_Range = 232.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 232.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 342
#   Segment length 101.572836 meters
#   Minimum depth: 892.055425 meters looking forward 100.000000 meters along route
#   Maximum depth: 897.707844 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 842.055425 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766552;
longitude = -121.986628;
captureRadius = 10;
duration = 101;
initialDepth = 842.097822;
finalDepth = 842.055425;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.652419
#   Actual altitude: 55.652419
#   Commanded vehicle depth:842.055425 
#   Seafloor depth:-897.707844
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.13;
MB_Bottom_Detect_Filter_Max_Range = 222.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 342
#   Segment length 101.572836 meters
#   Minimum depth: 892.097822 meters looking forward 100.000000 meters along route
#   Maximum depth: 894.948615 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 842.097822 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.765651;
longitude = -121.986352;
captureRadius = 10;
duration = 101;
initialDepth = 844.242798;
finalDepth = 842.097822;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.652419
#   Actual altitude: 55.652419
#   Commanded vehicle depth:842.097822 
#   Seafloor depth:-892.097822
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.13;
MB_Bottom_Detect_Filter_Max_Range = 222.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 341
#   Segment length 101.572836 meters
#   Minimum depth: 894.242798 meters looking forward 100.000000 meters along route
#   Maximum depth: 895.061342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.242798 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764767;
longitude = -121.986082;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 841.892986;
finalDepth = 844.242798;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.74707
#   Actual altitude: 50.74707
#   Commanded vehicle depth:844.242798 
#   Seafloor depth:-894.989868
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.15;
MB_Bottom_Detect_Filter_Max_Range = 202.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 341
#   Segment length 101.572836 meters
#   Minimum depth: 891.892986 meters looking forward 100.000000 meters along route
#   Maximum depth: 894.268643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 841.892986 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764119;
longitude = -121.985759;
captureRadius = 10;
duration = 101;
initialDepth = 838.650071;
finalDepth = 841.892986;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.375657
#   Actual altitude: 52.375657
#   Commanded vehicle depth:841.892986 
#   Seafloor depth:-894.268643
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 341
#   Segment length 101.572836 meters
#   Minimum depth: 888.650071 meters looking forward 100.000000 meters along route
#   Maximum depth: 891.798382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.650071 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763263;
longitude = -121.985333;
captureRadius = 10;
duration = 101;
initialDepth = 836.180128;
finalDepth = 838.650071;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1483109999999
#   Actual altitude: 53.1483109999999
#   Commanded vehicle depth:838.650071 
#   Seafloor depth:-891.798382
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 341
#   Segment length 101.572836 meters
#   Minimum depth: 886.180128 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.528627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 836.180128 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762406;
longitude = -121.984907;
captureRadius = 10;
duration = 101;
initialDepth = 833.944849;
finalDepth = 836.180128;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1483109999999
#   Actual altitude: 53.1483109999999
#   Commanded vehicle depth:836.180128 
#   Seafloor depth:-888.528627
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 341
#   Segment length 101.572836 meters
#   Minimum depth: 883.944849 meters looking forward 100.000000 meters along route
#   Maximum depth: 886.164007 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.944849 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761542;
longitude = -121.984477;
captureRadius = 10;
duration = 101;
initialDepth = 833.720911;
finalDepth = 833.944849;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.3484990000001
#   Actual altitude: 52.3484990000001
#   Commanded vehicle depth:833.944849 
#   Seafloor depth:-886.164007
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.39;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.39;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 340
#   Segment length 101.572836 meters
#   Minimum depth: 883.720911 meters looking forward 100.000000 meters along route
#   Maximum depth: 884.659657 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 833.720911 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760679;
longitude = -121.984048;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 819.536375;
finalDepth = 833.720911;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.219158
#   Actual altitude: 52.219158
#   Commanded vehicle depth:833.720911 
#   Seafloor depth:-884.562866
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 340
#   Segment length 101.572836 meters
#   Minimum depth: 869.536375 meters looking forward 100.000000 meters along route
#   Maximum depth: 883.112304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 819.536375 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760526;
longitude = -121.983861;
captureRadius = 10;
duration = 101;
initialDepth = 816.656808;
finalDepth = 819.536375;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 63.575929
#   Actual altitude: 63.575929
#   Commanded vehicle depth:819.536375 
#   Seafloor depth:-883.112304
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 254.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.72;
MB_Bottom_Detect_Filter_Max_Range = 254.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 254.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 340
#   Segment length 101.572836 meters
#   Minimum depth: 866.656808 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.501180 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 816.656808 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759881;
longitude = -121.983077;
captureRadius = 10;
duration = 101;
initialDepth = 814.256651;
finalDepth = 816.656808;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 63.575929
#   Actual altitude: 63.575929
#   Commanded vehicle depth:816.656808 
#   Seafloor depth:-869.501180
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 254.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.72;
MB_Bottom_Detect_Filter_Max_Range = 254.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 254.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 339
#   Segment length 101.572836 meters
#   Minimum depth: 864.256651 meters looking forward 100.000000 meters along route
#   Maximum depth: 867.463736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 814.256651 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759222;
longitude = -121.982274;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 811.751853;
finalDepth = 814.256651;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.880999
#   Actual altitude: 52.880999
#   Commanded vehicle depth:814.256651 
#   Seafloor depth:-867.137650
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.58;
MB_Bottom_Detect_Filter_Max_Range = 211.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 339
#   Segment length 101.572836 meters
#   Minimum depth: 861.751853 meters looking forward 100.000000 meters along route
#   Maximum depth: 864.038409 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 811.751853 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759321;
longitude = -121.981788;
captureRadius = 10;
duration = 101;
initialDepth = 808.402710;
finalDepth = 811.751853;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.880999
#   Actual altitude: 52.880999
#   Commanded vehicle depth:811.751853 
#   Seafloor depth:-864.038409
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.58;
MB_Bottom_Detect_Filter_Max_Range = 211.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 339
#   Segment length 101.572836 meters
#   Minimum depth: 858.402710 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.558981 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 808.402710 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759550;
longitude = -121.980668;
captureRadius = 10;
duration = 101;
initialDepth = 809.935898;
finalDepth = 808.402710;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1562710000001
#   Actual altitude: 53.1562710000001
#   Commanded vehicle depth:808.40271 
#   Seafloor depth:-861.558981
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.63;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.63;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 339
#   Segment length 101.572836 meters
#   Minimum depth: 859.935898 meters looking forward 100.000000 meters along route
#   Maximum depth: 862.179207 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 809.935898 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759778;
longitude = -121.979548;
captureRadius = 10;
duration = 101;
initialDepth = 809.719768;
finalDepth = 809.935898;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1562710000001
#   Actual altitude: 53.1562710000001
#   Commanded vehicle depth:809.935898 
#   Seafloor depth:-859.935898
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.63;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.63;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 338
#   Segment length 101.572836 meters
#   Minimum depth: 859.719768 meters looking forward 100.000000 meters along route
#   Maximum depth: 862.128452 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 809.719768 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760003;
longitude = -121.978446;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 807.176317;
finalDepth = 809.719768;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.0852699999999
#   Actual altitude: 51.0852699999999
#   Commanded vehicle depth:809.719768 
#   Seafloor depth:-860.805038
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.22;
MB_Bottom_Detect_Filter_Max_Range = 204.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 857.176317 meters looking forward 100.000000 meters along route
#   Maximum depth: 859.369772 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 807.176317 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760285;
longitude = -121.977979;
captureRadius = 10;
duration = 101;
initialDepth = 805.205327;
finalDepth = 807.176317;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.193455
#   Actual altitude: 52.193455
#   Commanded vehicle depth:807.176317 
#   Seafloor depth:-859.369772
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.77;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 855.205327 meters looking forward 100.000000 meters along route
#   Maximum depth: 857.218976 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 805.205327 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760827;
longitude = -121.977083;
captureRadius = 10;
duration = 101;
initialDepth = 802.898848;
finalDepth = 805.205327;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.193455
#   Actual altitude: 52.193455
#   Commanded vehicle depth:805.205327 
#   Seafloor depth:-857.218976
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.77;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 852.898848 meters looking forward 100.000000 meters along route
#   Maximum depth: 855.127137 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 802.898848 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761368;
longitude = -121.976187;
captureRadius = 10;
duration = 101;
initialDepth = 798.224748;
finalDepth = 802.898848;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.2282889999999
#   Actual altitude: 52.2282889999999
#   Commanded vehicle depth:802.898848 
#   Seafloor depth:-855.127137
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 208.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 848.224748 meters looking forward 100.000000 meters along route
#   Maximum depth: 852.740734 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 798.224748 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761910;
longitude = -121.975290;
captureRadius = 10;
duration = 101;
initialDepth = 794.501635;
finalDepth = 798.224748;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.515986
#   Actual altitude: 54.515986
#   Commanded vehicle depth:798.224748 
#   Seafloor depth:-852.740734
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 844.501635 meters looking forward 100.000000 meters along route
#   Maximum depth: 848.223681 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 794.501635 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762451;
longitude = -121.974394;
captureRadius = 10;
duration = 101;
initialDepth = 789.279505;
finalDepth = 794.501635;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.515986
#   Actual altitude: 54.515986
#   Commanded vehicle depth:794.501635 
#   Seafloor depth:-848.223681
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 839.279505 meters looking forward 100.000000 meters along route
#   Maximum depth: 844.500531 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 789.279505 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762993;
longitude = -121.973498;
captureRadius = 10;
duration = 101;
initialDepth = 787.744069;
finalDepth = 789.279505;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.2210260000001
#   Actual altitude: 55.2210260000001
#   Commanded vehicle depth:789.279505 
#   Seafloor depth:-844.500531
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.04;
MB_Bottom_Detect_Filter_Max_Range = 220.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 837.744069 meters looking forward 100.000000 meters along route
#   Maximum depth: 839.258053 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 787.744069 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763534;
longitude = -121.972601;
captureRadius = 10;
duration = 101;
initialDepth = 783.631218;
finalDepth = 787.744069;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.2210260000001
#   Actual altitude: 55.2210260000001
#   Commanded vehicle depth:787.744069 
#   Seafloor depth:-839.258053
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.04;
MB_Bottom_Detect_Filter_Max_Range = 220.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 338
#   Segment length 101.572836 meters
#   Minimum depth: 833.631218 meters looking forward 100.000000 meters along route
#   Maximum depth: 837.732886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 783.631218 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764076;
longitude = -121.971705;
captureRadius = 10;
duration = 101;
initialDepth = 783.285523;
finalDepth = 783.631218;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.101668
#   Actual altitude: 54.101668
#   Commanded vehicle depth:783.631218 
#   Seafloor depth:-837.732886
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 337
#   Segment length 101.572836 meters
#   Minimum depth: 833.285523 meters looking forward 100.000000 meters along route
#   Maximum depth: 836.866903 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 783.285523 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764629;
longitude = -121.970790;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 778.382106;
finalDepth = 783.285523;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.101668
#   Actual altitude: 54.101668
#   Commanded vehicle depth:783.285523 
#   Seafloor depth:-833.528259
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 337
#   Segment length 101.572836 meters
#   Minimum depth: 828.382106 meters looking forward 100.000000 meters along route
#   Maximum depth: 833.101841 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 778.382106 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764840;
longitude = -121.970590;
captureRadius = 10;
duration = 101;
initialDepth = 775.204469;
finalDepth = 778.382106;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.719735
#   Actual altitude: 54.719735
#   Commanded vehicle depth:778.382106 
#   Seafloor depth:-833.101841
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.94;
MB_Bottom_Detect_Filter_Max_Range = 218.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 337
#   Segment length 101.572836 meters
#   Minimum depth: 825.204469 meters looking forward 100.000000 meters along route
#   Maximum depth: 828.454860 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 775.204469 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.765561;
longitude = -121.969907;
captureRadius = 10;
duration = 101;
initialDepth = 772.252179;
finalDepth = 775.204469;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.719735
#   Actual altitude: 54.719735
#   Commanded vehicle depth:775.204469 
#   Seafloor depth:-828.364421
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.94;
MB_Bottom_Detect_Filter_Max_Range = 218.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 337
#   Segment length 101.572836 meters
#   Minimum depth: 822.252179 meters looking forward 100.000000 meters along route
#   Maximum depth: 825.030046 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 772.252179 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766282;
longitude = -121.969224;
captureRadius = 10;
duration = 101;
initialDepth = 770.262160;
finalDepth = 772.252179;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.159952
#   Actual altitude: 53.159952
#   Commanded vehicle depth:772.252179 
#   Seafloor depth:-825.030046
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 337
#   Segment length 101.572836 meters
#   Minimum depth: 820.262160 meters looking forward 100.000000 meters along route
#   Maximum depth: 822.087492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 770.262160 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767003;
longitude = -121.968541;
captureRadius = 10;
duration = 101;
initialDepth = 768.353244;
finalDepth = 770.262160;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.777867
#   Actual altitude: 52.777867
#   Commanded vehicle depth:770.26216 
#   Seafloor depth:-822.087492
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 337
#   Segment length 101.572836 meters
#   Minimum depth: 818.353244 meters looking forward 100.000000 meters along route
#   Maximum depth: 820.191529 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 768.353244 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767724;
longitude = -121.967858;
captureRadius = 10;
duration = 101;
initialDepth = 766.183924;
finalDepth = 768.353244;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.8382849999999
#   Actual altitude: 51.8382849999999
#   Commanded vehicle depth:768.353244 
#   Seafloor depth:-820.191529
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.35;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 337
#   Segment length 101.572836 meters
#   Minimum depth: 816.183924 meters looking forward 100.000000 meters along route
#   Maximum depth: 818.832943 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 766.183924 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.768452;
longitude = -121.967168;
captureRadius = 10;
duration = 101;
initialDepth = 764.390316;
finalDepth = 766.183924;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.649019
#   Actual altitude: 52.649019
#   Commanded vehicle depth:766.183924 
#   Seafloor depth:-818.832943
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.53;
MB_Bottom_Detect_Filter_Max_Range = 210.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 336
#   Segment length 101.572836 meters
#   Minimum depth: 814.390316 meters looking forward 100.000000 meters along route
#   Maximum depth: 818.180393 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 764.390316 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769181;
longitude = -121.966477;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 762.552125;
finalDepth = 764.390316;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.649019
#   Actual altitude: 52.649019
#   Commanded vehicle depth:764.390316 
#   Seafloor depth:-815.914200
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.53;
MB_Bottom_Detect_Filter_Max_Range = 210.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 336
#   Segment length 101.572836 meters
#   Minimum depth: 812.552125 meters looking forward 100.000000 meters along route
#   Maximum depth: 814.086738 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 762.552125 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769436;
longitude = -121.966228;
captureRadius = 10;
duration = 101;
initialDepth = 761.017691;
finalDepth = 762.552125;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.5238840000001
#   Actual altitude: 51.5238840000001
#   Commanded vehicle depth:762.552125 
#   Seafloor depth:-814.008170
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 206.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 336
#   Segment length 101.572836 meters
#   Minimum depth: 811.017691 meters looking forward 100.000000 meters along route
#   Maximum depth: 812.667159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 761.017691 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770157;
longitude = -121.965523;
captureRadius = 10;
duration = 101;
initialDepth = 758.422394;
finalDepth = 761.017691;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.472525
#   Actual altitude: 51.472525
#   Commanded vehicle depth:761.017691 
#   Seafloor depth:-812.490216
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.89;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.29;
MB_Bottom_Detect_Filter_Max_Range = 205.89;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.89;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 336
#   Segment length 101.572836 meters
#   Minimum depth: 808.422394 meters looking forward 100.000000 meters along route
#   Maximum depth: 810.992887 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 758.422394 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770882;
longitude = -121.964815;
captureRadius = 10;
duration = 101;
initialDepth = 756.324211;
finalDepth = 758.422394;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.5704929999999
#   Actual altitude: 52.5704929999999
#   Commanded vehicle depth:758.422394 
#   Seafloor depth:-810.992887
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 335
#   Segment length 101.572836 meters
#   Minimum depth: 806.324211 meters looking forward 100.000000 meters along route
#   Maximum depth: 809.552867 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 756.324211 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771593;
longitude = -121.964120;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 751.304522;
finalDepth = 756.324211;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.5704929999999
#   Actual altitude: 52.5704929999999
#   Commanded vehicle depth:756.324211 
#   Seafloor depth:-808.361328
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 335
#   Segment length 101.572836 meters
#   Minimum depth: 801.304522 meters looking forward 100.000000 meters along route
#   Maximum depth: 806.284609 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 751.304522 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771969;
longitude = -121.963807;
captureRadius = 10;
duration = 101;
initialDepth = 747.323960;
finalDepth = 751.304522;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.980087
#   Actual altitude: 54.980087
#   Commanded vehicle depth:751.304522 
#   Seafloor depth:-806.284609
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.92;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.00;
MB_Bottom_Detect_Filter_Max_Range = 219.92;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 335
#   Segment length 101.572836 meters
#   Minimum depth: 797.323960 meters looking forward 100.000000 meters along route
#   Maximum depth: 801.141678 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 747.323960 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772725;
longitude = -121.963176;
captureRadius = 10;
duration = 101;
initialDepth = 743.766347;
finalDepth = 747.323960;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.980087
#   Actual altitude: 54.980087
#   Commanded vehicle depth:747.32396 
#   Seafloor depth:-801.141678
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.92;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.00;
MB_Bottom_Detect_Filter_Max_Range = 219.92;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 335
#   Segment length 101.572836 meters
#   Minimum depth: 793.766347 meters looking forward 100.000000 meters along route
#   Maximum depth: 796.772859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 743.766347 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773515;
longitude = -121.962518;
captureRadius = 10;
duration = 101;
initialDepth = 743.727727;
finalDepth = 743.766347;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.8177179999999
#   Actual altitude: 53.8177179999999
#   Commanded vehicle depth:743.766347 
#   Seafloor depth:-796.772859
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 334
#   Segment length 101.572836 meters
#   Minimum depth: 793.727727 meters looking forward 100.000000 meters along route
#   Maximum depth: 794.492997 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 743.727727 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774264;
longitude = -121.961894;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 741.745174;
finalDepth = 743.727727;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.006512
#   Actual altitude: 53.006512
#   Commanded vehicle depth:743.727727 
#   Seafloor depth:-794.117447
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.60;
MB_Bottom_Detect_Filter_Max_Range = 212.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 334
#   Segment length 101.572836 meters
#   Minimum depth: 791.745174 meters looking forward 100.000000 meters along route
#   Maximum depth: 793.656602 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 741.745174 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774641;
longitude = -121.961566;
captureRadius = 10;
duration = 101;
initialDepth = 739.758672;
finalDepth = 741.745174;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.911428
#   Actual altitude: 51.911428
#   Commanded vehicle depth:741.745174 
#   Seafloor depth:-793.656602
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 334
#   Segment length 101.572836 meters
#   Minimum depth: 789.758672 meters looking forward 100.000000 meters along route
#   Maximum depth: 791.551755 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 739.758672 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775384;
longitude = -121.960920;
captureRadius = 10;
duration = 101;
initialDepth = 738.313134;
finalDepth = 739.758672;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.911428
#   Actual altitude: 51.911428
#   Commanded vehicle depth:739.758672 
#   Seafloor depth:-791.551755
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 334
#   Segment length 101.572836 meters
#   Minimum depth: 788.313134 meters looking forward 100.000000 meters along route
#   Maximum depth: 789.800965 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.313134 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776150;
longitude = -121.960254;
captureRadius = 10;
duration = 101;
initialDepth = 736.088534;
finalDepth = 738.313134;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.7930829999999
#   Actual altitude: 51.7930829999999
#   Commanded vehicle depth:738.313134 
#   Seafloor depth:-789.772957
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.36;
MB_Bottom_Detect_Filter_Max_Range = 207.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 334
#   Segment length 101.572836 meters
#   Minimum depth: 786.088534 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.273103 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 736.088534 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776916;
longitude = -121.959588;
captureRadius = 10;
duration = 101;
initialDepth = 733.658058;
finalDepth = 736.088534;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.184569
#   Actual altitude: 52.184569
#   Commanded vehicle depth:736.088534 
#   Seafloor depth:-788.273103
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 333
#   Segment length 101.572836 meters
#   Minimum depth: 783.658058 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.275607 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.658058 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777677;
longitude = -121.958926;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 732.085542;
finalDepth = 733.658058;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.538765
#   Actual altitude: 52.538765
#   Commanded vehicle depth:733.658058 
#   Seafloor depth:-786.196823
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 333
#   Segment length 101.572836 meters
#   Minimum depth: 782.085542 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.600884 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.085542 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778268;
longitude = -121.958168;
captureRadius = 10;
duration = 101;
initialDepth = 725.038741;
finalDepth = 732.085542;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.538765
#   Actual altitude: 52.538765
#   Commanded vehicle depth:732.085542 
#   Seafloor depth:-783.600884
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 333
#   Segment length 101.572836 meters
#   Minimum depth: 775.038741 meters looking forward 100.000000 meters along route
#   Maximum depth: 782.034193 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 725.038741 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778899;
longitude = -121.957359;
captureRadius = 10;
duration = 101;
initialDepth = 714.398214;
finalDepth = 725.038741;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.995452
#   Actual altitude: 56.995452
#   Commanded vehicle depth:725.038741 
#   Seafloor depth:-782.034193
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.98;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.40;
MB_Bottom_Detect_Filter_Max_Range = 227.98;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 333
#   Segment length 101.572836 meters
#   Minimum depth: 764.398214 meters looking forward 100.000000 meters along route
#   Maximum depth: 774.693350 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.398214 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779530;
longitude = -121.956550;
captureRadius = 10;
duration = 101;
initialDepth = 712.553953;
finalDepth = 714.398214;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.295136
#   Actual altitude: 60.295136
#   Commanded vehicle depth:714.398214 
#   Seafloor depth:-774.693350
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 241.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.06;
MB_Bottom_Detect_Filter_Max_Range = 241.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 241.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 332
#   Segment length 101.572836 meters
#   Minimum depth: 762.553953 meters looking forward 100.000000 meters along route
#   Maximum depth: 765.415177 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 712.553953 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780176;
longitude = -121.955721;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 711.133671;
finalDepth = 712.553953;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.295136
#   Actual altitude: 60.295136
#   Commanded vehicle depth:712.553953 
#   Seafloor depth:-764.289612
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 241.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.06;
MB_Bottom_Detect_Filter_Max_Range = 241.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 241.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 332
#   Segment length 101.572836 meters
#   Minimum depth: 761.133671 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.695881 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.133671 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780573;
longitude = -121.954956;
captureRadius = 10;
duration = 101;
initialDepth = 710.079947;
finalDepth = 711.133671;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.7356590000001
#   Actual altitude: 51.7356590000001
#   Commanded vehicle depth:711.133671 
#   Seafloor depth:-762.551658
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.94;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 206.94;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 331
#   Segment length 101.572836 meters
#   Minimum depth: 760.079947 meters looking forward 100.000000 meters along route
#   Maximum depth: 762.108396 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.079947 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781077;
longitude = -121.953985;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 707.438389;
finalDepth = 710.079947;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.4179869999999
#   Actual altitude: 51.4179869999999
#   Commanded vehicle depth:710.079947 
#   Seafloor depth:-761.094223
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.28;
MB_Bottom_Detect_Filter_Max_Range = 205.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 331
#   Segment length 101.572836 meters
#   Minimum depth: 757.438389 meters looking forward 100.000000 meters along route
#   Maximum depth: 759.854920 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 707.438389 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781088;
longitude = -121.953331;
captureRadius = 10;
duration = 101;
initialDepth = 705.932287;
finalDepth = 707.438389;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.416531
#   Actual altitude: 52.416531
#   Commanded vehicle depth:707.438389 
#   Seafloor depth:-759.854920
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 331
#   Segment length 101.572836 meters
#   Minimum depth: 755.932287 meters looking forward 100.000000 meters along route
#   Maximum depth: 757.453520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 705.932287 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781108;
longitude = -121.952211;
captureRadius = 10;
duration = 101;
initialDepth = 703.248613;
finalDepth = 705.932287;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.416531
#   Actual altitude: 52.416531
#   Commanded vehicle depth:705.932287 
#   Seafloor depth:-757.453520
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 331
#   Segment length 101.572836 meters
#   Minimum depth: 753.248613 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.637121 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 703.248613 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781128;
longitude = -121.951090;
captureRadius = 10;
duration = 101;
initialDepth = 700.170460;
finalDepth = 703.248613;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.388508
#   Actual altitude: 52.388508
#   Commanded vehicle depth:703.248613 
#   Seafloor depth:-755.637121
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 331
#   Segment length 101.572836 meters
#   Minimum depth: 750.170460 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.052086 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.170460 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781147;
longitude = -121.949970;
captureRadius = 10;
duration = 101;
initialDepth = 699.895584;
finalDepth = 700.170460;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.881626
#   Actual altitude: 52.881626
#   Commanded vehicle depth:700.17046 
#   Seafloor depth:-753.052086
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.58;
MB_Bottom_Detect_Filter_Max_Range = 211.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 330
#   Segment length 101.572836 meters
#   Minimum depth: 749.895584 meters looking forward 100.000000 meters along route
#   Maximum depth: 752.474871 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 699.895584 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781167;
longitude = -121.948831;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 696.940586;
finalDepth = 699.895584;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.881626
#   Actual altitude: 52.881626
#   Commanded vehicle depth:699.895584 
#   Seafloor depth:-750.049835
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.58;
MB_Bottom_Detect_Filter_Max_Range = 211.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 330
#   Segment length 101.572836 meters
#   Minimum depth: 746.940586 meters looking forward 100.000000 meters along route
#   Maximum depth: 749.619353 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 696.940586 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781168;
longitude = -121.948737;
captureRadius = 10;
duration = 101;
initialDepth = 693.088811;
finalDepth = 696.940586;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.678767
#   Actual altitude: 52.678767
#   Commanded vehicle depth:696.940586 
#   Seafloor depth:-749.619353
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 330
#   Segment length 101.572836 meters
#   Minimum depth: 743.088811 meters looking forward 100.000000 meters along route
#   Maximum depth: 746.777001 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 693.088811 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781183;
longitude = -121.947561;
captureRadius = 10;
duration = 101;
initialDepth = 689.176388;
finalDepth = 693.088811;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.6881900000001
#   Actual altitude: 53.6881900000001
#   Commanded vehicle depth:693.088811 
#   Seafloor depth:-746.777001
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.74;
MB_Bottom_Detect_Filter_Max_Range = 214.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 330
#   Segment length 101.572836 meters
#   Minimum depth: 739.176388 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.087265 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.176388 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781198;
longitude = -121.946385;
captureRadius = 10;
duration = 101;
initialDepth = 685.502712;
finalDepth = 689.176388;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.8178
#   Actual altitude: 53.8178
#   Commanded vehicle depth:689.176388 
#   Seafloor depth:-742.994188
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 330
#   Segment length 101.572836 meters
#   Minimum depth: 735.502712 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.988321 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 685.502712 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781212;
longitude = -121.945208;
captureRadius = 10;
duration = 101;
initialDepth = 683.394059;
finalDepth = 685.502712;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.8178
#   Actual altitude: 53.8178
#   Commanded vehicle depth:685.502712 
#   Seafloor depth:-738.974818
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 329
#   Segment length 101.572836 meters
#   Minimum depth: 733.394059 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.006736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.394059 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781227;
longitude = -121.944051;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 680.469903;
finalDepth = 683.394059;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.4721060000001
#   Actual altitude: 53.4721060000001
#   Commanded vehicle depth:683.394059 
#   Seafloor depth:-735.384186
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.89;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.69;
MB_Bottom_Detect_Filter_Max_Range = 213.89;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.89;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 329
#   Segment length 101.572836 meters
#   Minimum depth: 730.469903 meters looking forward 100.000000 meters along route
#   Maximum depth: 733.325922 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 680.469903 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781301;
longitude = -121.943136;
captureRadius = 10;
duration = 101;
initialDepth = 678.220768;
finalDepth = 680.469903;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.8560189999999
#   Actual altitude: 52.8560189999999
#   Commanded vehicle depth:680.469903 
#   Seafloor depth:-733.325922
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 329
#   Segment length 101.572836 meters
#   Minimum depth: 728.220768 meters looking forward 100.000000 meters along route
#   Maximum depth: 730.447851 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 678.220768 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781391;
longitude = -121.942015;
captureRadius = 10;
duration = 101;
initialDepth = 672.870689;
finalDepth = 678.220768;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.8560189999999
#   Actual altitude: 52.8560189999999
#   Commanded vehicle depth:678.220768 
#   Seafloor depth:-730.447851
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 329
#   Segment length 101.572836 meters
#   Minimum depth: 722.870689 meters looking forward 100.000000 meters along route
#   Maximum depth: 727.975462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 672.870689 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781481;
longitude = -121.940895;
captureRadius = 10;
duration = 101;
initialDepth = 672.305696;
finalDepth = 672.870689;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.104773
#   Actual altitude: 55.104773
#   Commanded vehicle depth:672.870689 
#   Seafloor depth:-727.975462
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 328
#   Segment length 101.572836 meters
#   Minimum depth: 722.305696 meters looking forward 100.000000 meters along route
#   Maximum depth: 727.250885 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 672.305696 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781573;
longitude = -121.939756;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 655.705537;
finalDepth = 672.305696;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.104773
#   Actual altitude: 55.104773
#   Commanded vehicle depth:672.305696 
#   Seafloor depth:-722.557205
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 328
#   Segment length 101.572836 meters
#   Minimum depth: 705.705537 meters looking forward 100.000000 meters along route
#   Maximum depth: 721.839883 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 655.705537 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781593;
longitude = -121.939662;
captureRadius = 10;
duration = 101;
initialDepth = 649.312758;
finalDepth = 655.705537;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.1343459999999
#   Actual altitude: 66.1343459999999
#   Commanded vehicle depth:655.705537 
#   Seafloor depth:-721.839883
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 264.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.23;
MB_Bottom_Detect_Filter_Max_Range = 264.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 264.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 328
#   Segment length 101.572836 meters
#   Minimum depth: 699.312758 meters looking forward 100.000000 meters along route
#   Maximum depth: 705.669949 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 649.312758 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781829;
longitude = -121.938542;
captureRadius = 10;
duration = 101;
initialDepth = 644.551791;
finalDepth = 649.312758;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.1343459999999
#   Actual altitude: 66.1343459999999
#   Commanded vehicle depth:649.312758 
#   Seafloor depth:-705.669949
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 264.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.23;
MB_Bottom_Detect_Filter_Max_Range = 264.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 264.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 328
#   Segment length 101.572836 meters
#   Minimum depth: 694.551791 meters looking forward 100.000000 meters along route
#   Maximum depth: 699.099118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 644.551791 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782065;
longitude = -121.937422;
captureRadius = 10;
duration = 101;
initialDepth = 644.277754;
finalDepth = 644.551791;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.3571909999999
#   Actual altitude: 56.3571909999999
#   Commanded vehicle depth:644.551791 
#   Seafloor depth:-699.099118
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.27;
MB_Bottom_Detect_Filter_Max_Range = 225.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 328
#   Segment length 101.572836 meters
#   Minimum depth: 694.277754 meters looking forward 100.000000 meters along route
#   Maximum depth: 695.973076 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 644.277754 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782302;
longitude = -121.936301;
captureRadius = 10;
duration = 101;
initialDepth = 644.151445;
finalDepth = 644.277754;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.547327
#   Actual altitude: 54.547327
#   Commanded vehicle depth:644.277754 
#   Seafloor depth:-694.342404
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.19;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.91;
MB_Bottom_Detect_Filter_Max_Range = 218.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 327
#   Segment length 101.572836 meters
#   Minimum depth: 694.151445 meters looking forward 100.000000 meters along route
#   Maximum depth: 695.451889 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 644.151445 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782534;
longitude = -121.935200;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 643.655093;
finalDepth = 644.151445;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.3004440000001
#   Actual altitude: 51.3004440000001
#   Commanded vehicle depth:644.151445 
#   Seafloor depth:-695.451889
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.26;
MB_Bottom_Detect_Filter_Max_Range = 205.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 327
#   Segment length 101.572836 meters
#   Minimum depth: 693.655093 meters looking forward 100.000000 meters along route
#   Maximum depth: 695.306242 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 643.655093 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782878;
longitude = -121.934453;
captureRadius = 10;
duration = 101;
initialDepth = 643.581464;
finalDepth = 643.655093;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.651149
#   Actual altitude: 51.651149
#   Commanded vehicle depth:643.655093 
#   Seafloor depth:-695.306242
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 327
#   Segment length 101.572836 meters
#   Minimum depth: 693.581464 meters looking forward 100.000000 meters along route
#   Maximum depth: 695.307229 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 643.581464 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783341;
longitude = -121.933444;
captureRadius = 10;
duration = 101;
initialDepth = 643.169623;
finalDepth = 643.581464;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.651149
#   Actual altitude: 51.651149
#   Commanded vehicle depth:643.581464 
#   Seafloor depth:-694.496345
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 326
#   Segment length 101.572836 meters
#   Minimum depth: 693.169623 meters looking forward 100.000000 meters along route
#   Maximum depth: 694.056768 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 643.169623 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783796;
longitude = -121.932455;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 640.847166;
finalDepth = 643.169623;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.914881
#   Actual altitude: 50.914881
#   Commanded vehicle depth:643.169623 
#   Seafloor depth:-693.670349
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.66;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.66;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 326
#   Segment length 101.572836 meters
#   Minimum depth: 690.847166 meters looking forward 100.000000 meters along route
#   Maximum depth: 692.974986 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 640.847166 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784287;
longitude = -121.931652;
captureRadius = 10;
duration = 101;
initialDepth = 640.269077;
finalDepth = 640.847166;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.1278199999999
#   Actual altitude: 52.1278199999999
#   Commanded vehicle depth:640.847166 
#   Seafloor depth:-692.974986
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.43;
MB_Bottom_Detect_Filter_Max_Range = 208.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 326
#   Segment length 101.572836 meters
#   Minimum depth: 690.269077 meters looking forward 100.000000 meters along route
#   Maximum depth: 691.106462 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 640.269077 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784847;
longitude = -121.930736;
captureRadius = 10;
duration = 101;
initialDepth = 638.629139;
finalDepth = 640.269077;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.1278199999999
#   Actual altitude: 52.1278199999999
#   Commanded vehicle depth:640.269077 
#   Seafloor depth:-690.862823
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.43;
MB_Bottom_Detect_Filter_Max_Range = 208.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 325
#   Segment length 101.572836 meters
#   Minimum depth: 688.629139 meters looking forward 100.000000 meters along route
#   Maximum depth: 690.767984 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 638.629139 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785394;
longitude = -121.929841;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 634.238746;
finalDepth = 638.629139;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.704739
#   Actual altitude: 51.704739
#   Commanded vehicle depth:638.629139 
#   Seafloor depth:-690.333878
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.82;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.34;
MB_Bottom_Detect_Filter_Max_Range = 206.82;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.82;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 325
#   Segment length 101.572836 meters
#   Minimum depth: 684.238746 meters looking forward 100.000000 meters along route
#   Maximum depth: 688.628194 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 634.238746 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785777;
longitude = -121.929075;
captureRadius = 10;
duration = 101;
initialDepth = 630.008292;
finalDepth = 634.238746;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.3845250000001
#   Actual altitude: 54.3845250000001
#   Commanded vehicle depth:634.238746 
#   Seafloor depth:-688.623271
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.88;
MB_Bottom_Detect_Filter_Max_Range = 217.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 325
#   Segment length 101.572836 meters
#   Minimum depth: 680.008292 meters looking forward 100.000000 meters along route
#   Maximum depth: 684.177532 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 630.008292 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786253;
longitude = -121.928123;
captureRadius = 10;
duration = 101;
initialDepth = 627.559147;
finalDepth = 630.008292;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.3845250000001
#   Actual altitude: 54.3845250000001
#   Commanded vehicle depth:630.008292 
#   Seafloor depth:-684.177532
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.88;
MB_Bottom_Detect_Filter_Max_Range = 217.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 324
#   Segment length 101.572836 meters
#   Minimum depth: 677.559147 meters looking forward 100.000000 meters along route
#   Maximum depth: 681.332682 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 627.559147 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786729;
longitude = -121.927170;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 621.344326;
finalDepth = 627.559147;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.1692400000001
#   Actual altitude: 54.1692400000001
#   Commanded vehicle depth:627.559147 
#   Seafloor depth:-679.851303
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.83;
MB_Bottom_Detect_Filter_Max_Range = 216.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 324
#   Segment length 101.572836 meters
#   Minimum depth: 671.344326 meters looking forward 100.000000 meters along route
#   Maximum depth: 677.529101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 621.344326 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786559;
longitude = -121.926491;
captureRadius = 10;
duration = 101;
initialDepth = 620.429219;
finalDepth = 621.344326;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.1847749999999
#   Actual altitude: 56.1847749999999
#   Commanded vehicle depth:621.344326 
#   Seafloor depth:-677.529101
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.24;
MB_Bottom_Detect_Filter_Max_Range = 224.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 323
#   Segment length 101.572836 meters
#   Minimum depth: 670.429219 meters looking forward 100.000000 meters along route
#   Maximum depth: 676.590484 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 620.429219 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786284;
longitude = -121.925389;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 616.612989;
finalDepth = 620.429219;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.1847749999999
#   Actual altitude: 56.1847749999999
#   Commanded vehicle depth:620.429219 
#   Seafloor depth:-671.436646
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.24;
MB_Bottom_Detect_Filter_Max_Range = 224.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 323
#   Segment length 101.572836 meters
#   Minimum depth: 666.612989 meters looking forward 100.000000 meters along route
#   Maximum depth: 670.580466 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 616.612989 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786109;
longitude = -121.925207;
captureRadius = 10;
duration = 101;
initialDepth = 612.456438;
finalDepth = 616.612989;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.8214290000001
#   Actual altitude: 53.8214290000001
#   Commanded vehicle depth:616.612989 
#   Seafloor depth:-670.434418
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.29;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.29;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.29;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 323
#   Segment length 101.572836 meters
#   Minimum depth: 662.456438 meters looking forward 100.000000 meters along route
#   Maximum depth: 666.453138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 612.456438 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785411;
longitude = -121.924481;
captureRadius = 10;
duration = 101;
initialDepth = 609.954723;
finalDepth = 612.456438;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.9966999999999
#   Actual altitude: 53.9966999999999
#   Commanded vehicle depth:612.456438 
#   Seafloor depth:-666.453138
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 215.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 323
#   Segment length 101.572836 meters
#   Minimum depth: 659.954723 meters looking forward 100.000000 meters along route
#   Maximum depth: 662.449565 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 609.954723 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784711;
longitude = -121.923753;
captureRadius = 10;
duration = 101;
initialDepth = 607.692718;
finalDepth = 609.954723;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.9966999999999
#   Actual altitude: 53.9966999999999
#   Commanded vehicle depth:609.954723 
#   Seafloor depth:-662.449565
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 215.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 323
#   Segment length 101.572836 meters
#   Minimum depth: 657.692718 meters looking forward 100.000000 meters along route
#   Maximum depth: 659.801497 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 607.692718 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783991;
longitude = -121.923004;
captureRadius = 10;
duration = 101;
initialDepth = 604.760154;
finalDepth = 607.692718;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.4948420000001
#   Actual altitude: 52.4948420000001
#   Commanded vehicle depth:607.692718 
#   Seafloor depth:-659.801497
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.98;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.50;
MB_Bottom_Detect_Filter_Max_Range = 209.98;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 323
#   Segment length 101.572836 meters
#   Minimum depth: 654.760154 meters looking forward 100.000000 meters along route
#   Maximum depth: 657.912158 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.760154 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783270;
longitude = -121.922255;
captureRadius = 10;
duration = 101;
initialDepth = 604.355028;
finalDepth = 604.760154;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1291239999999
#   Actual altitude: 53.1291239999999
#   Commanded vehicle depth:604.760154 
#   Seafloor depth:-657.889278
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 322
#   Segment length 101.572836 meters
#   Minimum depth: 654.355028 meters looking forward 100.000000 meters along route
#   Maximum depth: 656.977207 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 604.355028 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782574;
longitude = -121.921531;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 601.011224;
finalDepth = 604.355028;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1291239999999
#   Actual altitude: 53.1291239999999
#   Commanded vehicle depth:604.355028 
#   Seafloor depth:-654.935715
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 322
#   Segment length 101.572836 meters
#   Minimum depth: 651.011224 meters looking forward 100.000000 meters along route
#   Maximum depth: 653.993122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 601.011224 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782421;
longitude = -121.921344;
captureRadius = 10;
duration = 101;
initialDepth = 599.320948;
finalDepth = 601.011224;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.981898
#   Actual altitude: 52.981898
#   Commanded vehicle depth:601.011224 
#   Seafloor depth:-653.993122
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.93;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.60;
MB_Bottom_Detect_Filter_Max_Range = 211.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 322
#   Segment length 101.572836 meters
#   Minimum depth: 649.320948 meters looking forward 100.000000 meters along route
#   Maximum depth: 651.159014 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 599.320948 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781777;
longitude = -121.920560;
captureRadius = 10;
duration = 101;
initialDepth = 594.280106;
finalDepth = 599.320948;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.981898
#   Actual altitude: 52.981898
#   Commanded vehicle depth:599.320948 
#   Seafloor depth:-650.971258
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.93;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.60;
MB_Bottom_Detect_Filter_Max_Range = 211.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 322
#   Segment length 101.572836 meters
#   Minimum depth: 644.280106 meters looking forward 100.000000 meters along route
#   Maximum depth: 649.181052 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 594.280106 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781132;
longitude = -121.919776;
captureRadius = 10;
duration = 101;
initialDepth = 590.662039;
finalDepth = 594.280106;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.900946
#   Actual altitude: 54.900946
#   Commanded vehicle depth:594.280106 
#   Seafloor depth:-649.181052
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.98;
MB_Bottom_Detect_Filter_Max_Range = 219.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 322
#   Segment length 101.572836 meters
#   Minimum depth: 640.662039 meters looking forward 100.000000 meters along route
#   Maximum depth: 644.008633 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 590.662039 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780488;
longitude = -121.918992;
captureRadius = 10;
duration = 101;
initialDepth = 586.840243;
finalDepth = 590.662039;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.900946
#   Actual altitude: 54.900946
#   Commanded vehicle depth:590.662039 
#   Seafloor depth:-644.008633
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.98;
MB_Bottom_Detect_Filter_Max_Range = 219.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 322
#   Segment length 101.572836 meters
#   Minimum depth: 636.840243 meters looking forward 100.000000 meters along route
#   Maximum depth: 640.656344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 586.840243 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779844;
longitude = -121.918207;
captureRadius = 10;
duration = 101;
initialDepth = 584.713102;
finalDepth = 586.840243;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.816101
#   Actual altitude: 53.816101
#   Commanded vehicle depth:586.840243 
#   Seafloor depth:-640.656344
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 321
#   Segment length 101.572836 meters
#   Minimum depth: 634.713102 meters looking forward 100.000000 meters along route
#   Maximum depth: 638.662167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 584.713102 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779161;
longitude = -121.917376;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 581.314463;
finalDepth = 584.713102;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.816101
#   Actual altitude: 53.816101
#   Commanded vehicle depth:584.713102 
#   Seafloor depth:-636.869324
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 321
#   Segment length 101.572836 meters
#   Minimum depth: 631.314463 meters looking forward 100.000000 meters along route
#   Maximum depth: 635.052342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 581.314463 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778709;
longitude = -121.916695;
captureRadius = 10;
duration = 101;
initialDepth = 578.230714;
finalDepth = 581.314463;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.7378789999999
#   Actual altitude: 53.7378789999999
#   Commanded vehicle depth:581.314463 
#   Seafloor depth:-635.052342
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.95;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.95;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.95;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 321
#   Segment length 101.572836 meters
#   Minimum depth: 628.230714 meters looking forward 100.000000 meters along route
#   Maximum depth: 631.429490 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 578.230714 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778114;
longitude = -121.915799;
captureRadius = 10;
duration = 101;
initialDepth = 575.291599;
finalDepth = 578.230714;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.7378789999999
#   Actual altitude: 53.7378789999999
#   Commanded vehicle depth:578.230714 
#   Seafloor depth:-631.388692
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.95;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.95;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.95;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 320
#   Segment length 101.572836 meters
#   Minimum depth: 625.291599 meters looking forward 100.000000 meters along route
#   Maximum depth: 629.183955 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 575.291599 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777532;
longitude = -121.914921;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 571.657758;
finalDepth = 575.291599;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.157978
#   Actual altitude: 53.157978
#   Commanded vehicle depth:575.291599 
#   Seafloor depth:-628.314041
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.63;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.63;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 320
#   Segment length 101.572836 meters
#   Minimum depth: 621.657758 meters looking forward 100.000000 meters along route
#   Maximum depth: 625.185935 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 571.657758 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777232;
longitude = -121.914301;
captureRadius = 10;
duration = 101;
initialDepth = 569.151821;
finalDepth = 571.657758;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.528177
#   Actual altitude: 53.528177
#   Commanded vehicle depth:571.657758 
#   Seafloor depth:-625.185935
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 320
#   Segment length 101.572836 meters
#   Minimum depth: 619.151821 meters looking forward 100.000000 meters along route
#   Maximum depth: 621.848831 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 569.151821 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776764;
longitude = -121.913334;
captureRadius = 10;
duration = 101;
initialDepth = 565.038259;
finalDepth = 569.151821;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.528177
#   Actual altitude: 53.528177
#   Commanded vehicle depth:569.151821 
#   Seafloor depth:-621.613076
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 320
#   Segment length 101.572836 meters
#   Minimum depth: 615.038259 meters looking forward 100.000000 meters along route
#   Maximum depth: 619.061348 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 565.038259 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776275;
longitude = -121.912325;
captureRadius = 10;
duration = 101;
initialDepth = 563.171914;
finalDepth = 565.038259;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.0230889999999
#   Actual altitude: 54.0230889999999
#   Commanded vehicle depth:565.038259 
#   Seafloor depth:-619.061348
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 216.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 319
#   Segment length 101.572836 meters
#   Minimum depth: 613.171914 meters looking forward 100.000000 meters along route
#   Maximum depth: 616.890380 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 563.171914 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775805;
longitude = -121.911354;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 559.445670;
finalDepth = 563.171914;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.0230889999999
#   Actual altitude: 54.0230889999999
#   Commanded vehicle depth:563.171914 
#   Seafloor depth:-615.055313
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 216.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 319
#   Segment length 101.572836 meters
#   Minimum depth: 609.445670 meters looking forward 100.000000 meters along route
#   Maximum depth: 612.777303 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.445670 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775574;
longitude = -121.910869;
captureRadius = 10;
duration = 101;
initialDepth = 557.195369;
finalDepth = 559.445670;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.331633
#   Actual altitude: 53.331633
#   Commanded vehicle depth:559.44567 
#   Seafloor depth:-612.777303
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.33;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 319
#   Segment length 101.572836 meters
#   Minimum depth: 607.195369 meters looking forward 100.000000 meters along route
#   Maximum depth: 609.415797 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 557.195369 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775114;
longitude = -121.909904;
captureRadius = 10;
duration = 101;
initialDepth = 557.099256;
finalDepth = 557.195369;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.331633
#   Actual altitude: 53.331633
#   Commanded vehicle depth:557.195369 
#   Seafloor depth:-609.415797
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.33;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 318
#   Segment length 101.572836 meters
#   Minimum depth: 607.099256 meters looking forward 100.000000 meters along route
#   Maximum depth: 608.143890 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 557.099256 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774648;
longitude = -121.908927;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 555.527118;
finalDepth = 557.099256;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.220428
#   Actual altitude: 52.220428
#   Commanded vehicle depth:557.099256 
#   Seafloor depth:-607.126480
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 318
#   Segment length 101.572836 meters
#   Minimum depth: 605.527118 meters looking forward 100.000000 meters along route
#   Maximum depth: 607.099190 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.527118 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774571;
longitude = -121.908460;
captureRadius = 10;
duration = 101;
initialDepth = 553.963007;
finalDepth = 555.527118;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.572072
#   Actual altitude: 51.572072
#   Commanded vehicle depth:555.527118 
#   Seafloor depth:-607.099190
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.29;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.31;
MB_Bottom_Detect_Filter_Max_Range = 206.29;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.29;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 318
#   Segment length 101.572836 meters
#   Minimum depth: 603.963007 meters looking forward 100.000000 meters along route
#   Maximum depth: 605.702694 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.963007 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774387;
longitude = -121.907340;
captureRadius = 10;
duration = 101;
initialDepth = 551.840118;
finalDepth = 553.963007;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.572072
#   Actual altitude: 51.572072
#   Commanded vehicle depth:553.963007 
#   Seafloor depth:-605.454518
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.29;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.31;
MB_Bottom_Detect_Filter_Max_Range = 206.29;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.29;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 318
#   Segment length 101.572836 meters
#   Minimum depth: 601.840118 meters looking forward 100.000000 meters along route
#   Maximum depth: 604.080141 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.840118 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774203;
longitude = -121.906219;
captureRadius = 10;
duration = 101;
initialDepth = 547.885613;
finalDepth = 551.840118;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.17831
#   Actual altitude: 52.17831
#   Commanded vehicle depth:551.840118 
#   Seafloor depth:-604.018428
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 318
#   Segment length 101.572836 meters
#   Minimum depth: 597.885613 meters looking forward 100.000000 meters along route
#   Maximum depth: 601.729483 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.885613 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774018;
longitude = -121.905099;
captureRadius = 10;
duration = 101;
initialDepth = 544.963622;
finalDepth = 547.885613;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.8438699999999
#   Actual altitude: 53.8438699999999
#   Commanded vehicle depth:547.885613 
#   Seafloor depth:-601.729483
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.77;
MB_Bottom_Detect_Filter_Max_Range = 215.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 317
#   Segment length 101.572836 meters
#   Minimum depth: 594.963622 meters looking forward 100.000000 meters along route
#   Maximum depth: 599.244122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.963622 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773837;
longitude = -121.903997;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 540.300954;
finalDepth = 544.963622;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.8438699999999
#   Actual altitude: 53.8438699999999
#   Commanded vehicle depth:544.963622 
#   Seafloor depth:-597.857117
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.77;
MB_Bottom_Detect_Filter_Max_Range = 215.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 317
#   Segment length 101.572836 meters
#   Minimum depth: 590.300954 meters looking forward 100.000000 meters along route
#   Maximum depth: 594.562125 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 540.300954 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773833;
longitude = -121.903250;
captureRadius = 10;
duration = 101;
initialDepth = 538.911927;
finalDepth = 540.300954;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.261171
#   Actual altitude: 54.261171
#   Commanded vehicle depth:540.300954 
#   Seafloor depth:-594.562125
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 217.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 317
#   Segment length 101.572836 meters
#   Minimum depth: 588.911927 meters looking forward 100.000000 meters along route
#   Maximum depth: 590.177070 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.911927 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773826;
longitude = -121.902074;
captureRadius = 10;
duration = 101;
initialDepth = 538.757182;
finalDepth = 538.911927;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.261171
#   Actual altitude: 54.261171
#   Commanded vehicle depth:538.911927 
#   Seafloor depth:-590.177070
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 217.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 316
#   Segment length 101.572836 meters
#   Minimum depth: 588.757182 meters looking forward 100.000000 meters along route
#   Maximum depth: 589.828338 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.757182 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773819;
longitude = -121.900904;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 534.193613;
finalDepth = 538.757182;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.265143
#   Actual altitude: 51.265143
#   Commanded vehicle depth:538.757182 
#   Seafloor depth:-588.957184
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.25;
MB_Bottom_Detect_Filter_Max_Range = 205.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 316
#   Segment length 101.572836 meters
#   Minimum depth: 584.193613 meters looking forward 100.000000 meters along route
#   Maximum depth: 588.565055 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.193613 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773864;
longitude = -121.900842;
captureRadius = 10;
duration = 101;
initialDepth = 522.117551;
finalDepth = 534.193613;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.371442
#   Actual altitude: 54.371442
#   Commanded vehicle depth:534.193613 
#   Seafloor depth:-588.565055
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.87;
MB_Bottom_Detect_Filter_Max_Range = 217.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 316
#   Segment length 101.572836 meters
#   Minimum depth: 572.117551 meters looking forward 100.000000 meters along route
#   Maximum depth: 584.127336 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.117551 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774483;
longitude = -121.899981;
captureRadius = 10;
duration = 101;
initialDepth = 522.117551;
finalDepth = 522.117551;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 62.009785
#   Actual altitude: 62.009785
#   Commanded vehicle depth:522.117551 
#   Seafloor depth:-584.127336
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 248.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.40;
MB_Bottom_Detect_Filter_Max_Range = 248.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 248.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 315
#   Segment length 101.572836 meters
#   Minimum depth: 572.117551 meters looking forward 100.000000 meters along route
#   Maximum depth: 580.881615 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.117551 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775099;
longitude = -121.899124;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 520.444175;
finalDepth = 522.117551;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 62.009785
#   Actual altitude: 62.009785
#   Commanded vehicle depth:522.117551 
#   Seafloor depth:-578.929199
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 248.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.40;
MB_Bottom_Detect_Filter_Max_Range = 248.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 248.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 315
#   Segment length 101.572836 meters
#   Minimum depth: 570.444175 meters looking forward 100.000000 meters along route
#   Maximum depth: 577.365314 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.444175 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775429;
longitude = -121.898975;
captureRadius = 10;
duration = 101;
initialDepth = 523.028324;
finalDepth = 520.444175;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.921139
#   Actual altitude: 56.921139
#   Commanded vehicle depth:520.444175 
#   Seafloor depth:-577.365314
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.38;
MB_Bottom_Detect_Filter_Max_Range = 227.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 314
#   Segment length 101.572836 meters
#   Minimum depth: 573.028324 meters looking forward 100.000000 meters along route
#   Maximum depth: 574.191437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.028324 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776300;
longitude = -121.898582;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 523.028324;
finalDepth = 523.028324;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.921139
#   Actual altitude: 56.921139
#   Commanded vehicle depth:523.028324 
#   Seafloor depth:-573.434448
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.38;
MB_Bottom_Detect_Filter_Max_Range = 227.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 313
#   Segment length 101.572836 meters
#   Minimum depth: 573.028324 meters looking forward 100.000000 meters along route
#   Maximum depth: 574.191437 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 523.028324 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777126;
longitude = -121.899012;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 518.630541;
finalDepth = 523.028324;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.580059
#   Actual altitude: 50.580059
#   Commanded vehicle depth:523.028324 
#   Seafloor depth:-573.608383
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.32;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.32;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.32;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 313
#   Segment length 101.572836 meters
#   Minimum depth: 568.630541 meters looking forward 100.000000 meters along route
#   Maximum depth: 573.383626 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 518.630541 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777187;
longitude = -121.899115;
captureRadius = 10;
duration = 101;
initialDepth = 512.604533;
finalDepth = 518.630541;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.7530850000001
#   Actual altitude: 54.7530850000001
#   Commanded vehicle depth:518.630541 
#   Seafloor depth:-573.383626
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.95;
MB_Bottom_Detect_Filter_Max_Range = 219.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 313
#   Segment length 101.572836 meters
#   Minimum depth: 562.604533 meters looking forward 100.000000 meters along route
#   Maximum depth: 568.554910 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 512.604533 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777727;
longitude = -121.900032;
captureRadius = 10;
duration = 101;
initialDepth = 507.786650;
finalDepth = 512.604533;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.950377
#   Actual altitude: 55.950377
#   Commanded vehicle depth:512.604533 
#   Seafloor depth:-568.554910
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.19;
MB_Bottom_Detect_Filter_Max_Range = 223.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 313
#   Segment length 101.572836 meters
#   Minimum depth: 557.786650 meters looking forward 100.000000 meters along route
#   Maximum depth: 563.034681 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.786650 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778270;
longitude = -121.900954;
captureRadius = 10;
duration = 101;
initialDepth = 504.932156;
finalDepth = 507.786650;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.950377
#   Actual altitude: 55.950377
#   Commanded vehicle depth:507.78665 
#   Seafloor depth:-562.593684
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.19;
MB_Bottom_Detect_Filter_Max_Range = 223.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 313
#   Segment length 101.572836 meters
#   Minimum depth: 554.932156 meters looking forward 100.000000 meters along route
#   Maximum depth: 558.770072 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 504.932156 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778809;
longitude = -121.901867;
captureRadius = 10;
duration = 101;
initialDepth = 503.401115;
finalDepth = 504.932156;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.807034
#   Actual altitude: 54.807034
#   Commanded vehicle depth:504.932156 
#   Seafloor depth:-557.627184
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 313
#   Segment length 101.572836 meters
#   Minimum depth: 553.401115 meters looking forward 100.000000 meters along route
#   Maximum depth: 554.845537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 503.401115 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779360;
longitude = -121.902802;
captureRadius = 10;
duration = 101;
initialDepth = 502.939597;
finalDepth = 503.401115;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.6950280000001
#   Actual altitude: 52.6950280000001
#   Commanded vehicle depth:503.401115 
#   Seafloor depth:-554.845537
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 312
#   Segment length 101.572836 meters
#   Minimum depth: 552.939597 meters looking forward 100.000000 meters along route
#   Maximum depth: 554.414555 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 502.939597 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779903;
longitude = -121.903724;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 501.651575;
finalDepth = 502.939597;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.444422
#   Actual altitude: 51.444422
#   Commanded vehicle depth:502.939597 
#   Seafloor depth:-553.585800
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.29;
MB_Bottom_Detect_Filter_Max_Range = 205.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 312
#   Segment length 101.572836 meters
#   Minimum depth: 551.651575 meters looking forward 100.000000 meters along route
#   Maximum depth: 553.298968 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.651575 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780272;
longitude = -121.904091;
captureRadius = 10;
duration = 101;
initialDepth = 501.531347;
finalDepth = 501.651575;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.647393
#   Actual altitude: 51.647393
#   Commanded vehicle depth:501.651575 
#   Seafloor depth:-553.298968
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 311
#   Segment length 101.572836 meters
#   Minimum depth: 551.531347 meters looking forward 100.000000 meters along route
#   Maximum depth: 552.966083 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 501.531347 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780987;
longitude = -121.904800;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 499.774254;
finalDepth = 501.531347;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.647393
#   Actual altitude: 51.647393
#   Commanded vehicle depth:501.531347 
#   Seafloor depth:-551.686981
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 311
#   Segment length 101.572836 meters
#   Minimum depth: 549.774254 meters looking forward 100.000000 meters along route
#   Maximum depth: 551.602815 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 499.774254 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781197;
longitude = -121.904725;
captureRadius = 10;
duration = 101;
initialDepth = 495.243412;
finalDepth = 499.774254;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.659225
#   Actual altitude: 51.659225
#   Commanded vehicle depth:499.774254 
#   Seafloor depth:-551.433479
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 311
#   Segment length 101.572836 meters
#   Minimum depth: 545.243412 meters looking forward 100.000000 meters along route
#   Maximum depth: 549.677470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 495.243412 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782098;
longitude = -121.904401;
captureRadius = 10;
duration = 101;
initialDepth = 491.021479;
finalDepth = 495.243412;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.4340579999999
#   Actual altitude: 54.4340579999999
#   Commanded vehicle depth:495.243412 
#   Seafloor depth:-549.677470
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 311
#   Segment length 101.572836 meters
#   Minimum depth: 541.021479 meters looking forward 100.000000 meters along route
#   Maximum depth: 544.994917 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 491.021479 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782999;
longitude = -121.904078;
captureRadius = 10;
duration = 101;
initialDepth = 488.665200;
finalDepth = 491.021479;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.4340579999999
#   Actual altitude: 54.4340579999999
#   Commanded vehicle depth:491.021479 
#   Seafloor depth:-544.994917
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 311
#   Segment length 101.572836 meters
#   Minimum depth: 538.665200 meters looking forward 100.000000 meters along route
#   Maximum depth: 541.020699 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 488.665200 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783902;
longitude = -121.903755;
captureRadius = 10;
duration = 101;
initialDepth = 486.217774;
finalDepth = 488.665200;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.973438
#   Actual altitude: 53.973438
#   Commanded vehicle depth:488.6652 
#   Seafloor depth:-541.020699
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.89;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.89;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.89;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 310
#   Segment length 101.572836 meters
#   Minimum depth: 536.217774 meters looking forward 100.000000 meters along route
#   Maximum depth: 538.853968 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.217774 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784787;
longitude = -121.903437;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 482.472997;
finalDepth = 486.217774;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.5239710000001
#   Actual altitude: 52.5239710000001
#   Commanded vehicle depth:486.217774 
#   Seafloor depth:-538.741745
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.50;
MB_Bottom_Detect_Filter_Max_Range = 210.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 310
#   Segment length 101.572836 meters
#   Minimum depth: 532.472997 meters looking forward 100.000000 meters along route
#   Maximum depth: 536.094024 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 482.472997 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785478;
longitude = -121.903498;
captureRadius = 10;
duration = 101;
initialDepth = 479.605869;
finalDepth = 482.472997;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.621027
#   Actual altitude: 53.621027
#   Commanded vehicle depth:482.472997 
#   Seafloor depth:-536.094024
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.72;
MB_Bottom_Detect_Filter_Max_Range = 214.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 310
#   Segment length 101.572836 meters
#   Minimum depth: 529.605869 meters looking forward 100.000000 meters along route
#   Maximum depth: 532.714500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 479.605869 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786379;
longitude = -121.903577;
captureRadius = 10;
duration = 101;
initialDepth = 476.568134;
finalDepth = 479.605869;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.621027
#   Actual altitude: 53.621027
#   Commanded vehicle depth:479.605869 
#   Seafloor depth:-532.554050
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.72;
MB_Bottom_Detect_Filter_Max_Range = 214.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 310
#   Segment length 101.572836 meters
#   Minimum depth: 526.568134 meters looking forward 100.000000 meters along route
#   Maximum depth: 529.484579 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 476.568134 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787280;
longitude = -121.903656;
captureRadius = 10;
duration = 101;
initialDepth = 475.849210;
finalDepth = 476.568134;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.948181
#   Actual altitude: 52.948181
#   Commanded vehicle depth:476.568134 
#   Seafloor depth:-529.484579
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 309
#   Segment length 101.572836 meters
#   Minimum depth: 525.849210 meters looking forward 100.000000 meters along route
#   Maximum depth: 528.721933 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 475.849210 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788197;
longitude = -121.903736;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 471.614534;
finalDepth = 475.849210;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.9164450000001
#   Actual altitude: 52.9164450000001
#   Commanded vehicle depth:475.84921 
#   Seafloor depth:-526.455612
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.58;
MB_Bottom_Detect_Filter_Max_Range = 211.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 309
#   Segment length 101.572836 meters
#   Minimum depth: 521.614534 meters looking forward 100.000000 meters along route
#   Maximum depth: 525.762751 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.614534 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788317;
longitude = -121.903744;
captureRadius = 10;
duration = 101;
initialDepth = 471.165779;
finalDepth = 471.614534;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.069626
#   Actual altitude: 54.069626
#   Commanded vehicle depth:471.614534 
#   Seafloor depth:-525.684160
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 309
#   Segment length 101.572836 meters
#   Minimum depth: 521.165779 meters looking forward 100.000000 meters along route
#   Maximum depth: 523.719299 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.165779 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789218;
longitude = -121.903807;
captureRadius = 10;
duration = 101;
initialDepth = 472.850019;
finalDepth = 471.165779;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.069626
#   Actual altitude: 54.069626
#   Commanded vehicle depth:471.165779 
#   Seafloor depth:-521.831807
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 309
#   Segment length 101.572836 meters
#   Minimum depth: 522.850019 meters looking forward 100.000000 meters along route
#   Maximum depth: 524.138700 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 472.850019 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790119;
longitude = -121.903870;
captureRadius = 10;
duration = 101;
initialDepth = 466.724458;
finalDepth = 472.850019;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.9962840000001
#   Actual altitude: 50.9962840000001
#   Commanded vehicle depth:472.850019 
#   Seafloor depth:-523.846303
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.20;
MB_Bottom_Detect_Filter_Max_Range = 203.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 309
#   Segment length 101.572836 meters
#   Minimum depth: 516.724458 meters looking forward 100.000000 meters along route
#   Maximum depth: 522.730342 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.724458 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791020;
longitude = -121.903932;
captureRadius = 10;
duration = 101;
initialDepth = 465.071676;
finalDepth = 466.724458;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.0058839999999
#   Actual altitude: 56.0058839999999
#   Commanded vehicle depth:466.724458 
#   Seafloor depth:-522.730342
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.20;
MB_Bottom_Detect_Filter_Max_Range = 224.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 308
#   Segment length 101.572836 meters
#   Minimum depth: 515.071676 meters looking forward 100.000000 meters along route
#   Maximum depth: 518.589241 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.071676 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791952;
longitude = -121.903997;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 460.722466;
finalDepth = 465.071676;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.0058839999999
#   Actual altitude: 56.0058839999999
#   Commanded vehicle depth:465.071676 
#   Seafloor depth:-516.649567
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.20;
MB_Bottom_Detect_Filter_Max_Range = 224.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 308
#   Segment length 101.572836 meters
#   Minimum depth: 510.722466 meters looking forward 100.000000 meters along route
#   Maximum depth: 514.833137 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 460.722466 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792462;
longitude = -121.904171;
captureRadius = 10;
duration = 101;
initialDepth = 454.066764;
finalDepth = 460.722466;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.110671
#   Actual altitude: 54.110671
#   Commanded vehicle depth:460.722466 
#   Seafloor depth:-514.833137
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 308
#   Segment length 101.572836 meters
#   Minimum depth: 504.066764 meters looking forward 100.000000 meters along route
#   Maximum depth: 510.677475 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 454.066764 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793374;
longitude = -121.904483;
captureRadius = 10;
duration = 101;
initialDepth = 449.494841;
finalDepth = 454.066764;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.610711
#   Actual altitude: 56.610711
#   Commanded vehicle depth:454.066764 
#   Seafloor depth:-510.677475
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.32;
MB_Bottom_Detect_Filter_Max_Range = 226.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 308
#   Segment length 101.572836 meters
#   Minimum depth: 499.494841 meters looking forward 100.000000 meters along route
#   Maximum depth: 504.089156 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.494841 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794265;
longitude = -121.904787;
captureRadius = 10;
duration = 101;
initialDepth = 449.969792;
finalDepth = 449.494841;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.610711
#   Actual altitude: 56.610711
#   Commanded vehicle depth:449.494841 
#   Seafloor depth:-503.807020
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.32;
MB_Bottom_Detect_Filter_Max_Range = 226.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 308
#   Segment length 101.572836 meters
#   Minimum depth: 499.969792 meters looking forward 100.000000 meters along route
#   Maximum depth: 501.738126 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.969792 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795177;
longitude = -121.905099;
captureRadius = 10;
duration = 101;
initialDepth = 449.735937;
finalDepth = 449.969792;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.312179
#   Actual altitude: 54.312179
#   Commanded vehicle depth:449.969792 
#   Seafloor depth:-499.969792
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.25;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.86;
MB_Bottom_Detect_Filter_Max_Range = 217.25;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.25;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 307
#   Segment length 101.572836 meters
#   Minimum depth: 499.735937 meters looking forward 100.000000 meters along route
#   Maximum depth: 501.738126 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.735937 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796052;
longitude = -121.905398;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 446.732220;
finalDepth = 449.735937;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.727373
#   Actual altitude: 51.727373
#   Commanded vehicle depth:449.735937 
#   Seafloor depth:-501.463310
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 206.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 307
#   Segment length 101.572836 meters
#   Minimum depth: 496.732220 meters looking forward 100.000000 meters along route
#   Maximum depth: 502.518006 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.732220 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796439;
longitude = -121.904875;
captureRadius = 10;
duration = 101;
initialDepth = 446.797771;
finalDepth = 446.732220;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.474041
#   Actual altitude: 52.474041
#   Commanded vehicle depth:446.73222 
#   Seafloor depth:-499.206261
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.49;
MB_Bottom_Detect_Filter_Max_Range = 209.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 306
#   Segment length 101.572836 meters
#   Minimum depth: 496.797771 meters looking forward 100.000000 meters along route
#   Maximum depth: 502.518006 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 446.797771 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797074;
longitude = -121.904016;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 443.654506;
finalDepth = 446.797771;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.934376
#   Actual altitude: 52.934376
#   Commanded vehicle depth:446.797771 
#   Seafloor depth:-499.732147
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 306
#   Segment length 101.572836 meters
#   Minimum depth: 493.654506 meters looking forward 100.000000 meters along route
#   Maximum depth: 498.921511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 443.654506 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797107;
longitude = -121.903923;
captureRadius = 10;
duration = 101;
initialDepth = 440.801679;
finalDepth = 443.654506;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.267005
#   Actual altitude: 55.267005
#   Commanded vehicle depth:443.654506 
#   Seafloor depth:-498.921511
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.05;
MB_Bottom_Detect_Filter_Max_Range = 221.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 306
#   Segment length 101.572836 meters
#   Minimum depth: 490.801679 meters looking forward 100.000000 meters along route
#   Maximum depth: 493.629202 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 440.801679 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797483;
longitude = -121.902858;
captureRadius = 10;
duration = 101;
initialDepth = 440.009072;
finalDepth = 440.801679;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.267005
#   Actual altitude: 55.267005
#   Commanded vehicle depth:440.801679 
#   Seafloor depth:-493.629202
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.05;
MB_Bottom_Detect_Filter_Max_Range = 221.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 305
#   Segment length 101.572836 meters
#   Minimum depth: 490.009072 meters looking forward 100.000000 meters along route
#   Maximum depth: 491.650683 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 440.009072 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797859;
longitude = -121.901795;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 437.379536;
finalDepth = 440.009072;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.827523
#   Actual altitude: 52.827523
#   Commanded vehicle depth:440.009072 
#   Seafloor depth:-490.738609
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 305
#   Segment length 101.572836 meters
#   Minimum depth: 487.379536 meters looking forward 100.000000 meters along route
#   Maximum depth: 490.144613 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 437.379536 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797997;
longitude = -121.901290;
captureRadius = 10;
duration = 101;
initialDepth = 425.351195;
finalDepth = 437.379536;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.608771
#   Actual altitude: 52.608771
#   Commanded vehicle depth:437.379536 
#   Seafloor depth:-489.988307
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 305
#   Segment length 101.572836 meters
#   Minimum depth: 475.351195 meters looking forward 100.000000 meters along route
#   Maximum depth: 487.274492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 425.351195 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798288;
longitude = -121.900225;
captureRadius = 10;
duration = 101;
initialDepth = 417.154537;
finalDepth = 425.351195;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.923297
#   Actual altitude: 61.923297
#   Commanded vehicle depth:425.351195 
#   Seafloor depth:-487.274492
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 247.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.38;
MB_Bottom_Detect_Filter_Max_Range = 247.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 247.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 305
#   Segment length 101.572836 meters
#   Minimum depth: 467.154537 meters looking forward 100.000000 meters along route
#   Maximum depth: 474.789403 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 417.154537 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798580;
longitude = -121.899161;
captureRadius = 10;
duration = 101;
initialDepth = 417.154537;
finalDepth = 417.154537;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.923297
#   Actual altitude: 61.923297
#   Commanded vehicle depth:417.154537 
#   Seafloor depth:-474.789403
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 247.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.38;
MB_Bottom_Detect_Filter_Max_Range = 247.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 247.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 304
#   Segment length 101.572836 meters
#   Minimum depth: 467.154537 meters looking forward 100.000000 meters along route
#   Maximum depth: 473.900652 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 417.154537 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798876;
longitude = -121.898078;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 424.014289;
finalDepth = 417.154537;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.634866
#   Actual altitude: 57.634866
#   Commanded vehicle depth:417.154537 
#   Seafloor depth:-469.559883
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 230.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.53;
MB_Bottom_Detect_Filter_Max_Range = 230.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 230.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 304
#   Segment length 101.572836 meters
#   Minimum depth: 474.014289 meters looking forward 100.000000 meters along route
#   Maximum depth: 476.440651 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 424.014289 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798568;
longitude = -121.897312;
captureRadius = 10;
duration = 101;
initialDepth = 423.178591;
finalDepth = 424.014289;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.405346
#   Actual altitude: 52.405346
#   Commanded vehicle depth:424.014289 
#   Seafloor depth:-474.014289
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 303
#   Segment length 101.572836 meters
#   Minimum depth: 473.178591 meters looking forward 100.000000 meters along route
#   Maximum depth: 476.485016 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 423.178591 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798155;
longitude = -121.896285;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 407.477205;
finalDepth = 423.178591;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.306425
#   Actual altitude: 53.306425
#   Commanded vehicle depth:423.178591 
#   Seafloor depth:-476.485016
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.66;
MB_Bottom_Detect_Filter_Max_Range = 213.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 303
#   Segment length 101.572836 meters
#   Minimum depth: 457.477205 meters looking forward 100.000000 meters along route
#   Maximum depth: 472.290265 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 407.477205 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797329;
longitude = -121.896443;
captureRadius = 10;
duration = 101;
initialDepth = 401.676608;
finalDepth = 407.477205;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 64.81306
#   Actual altitude: 64.81306
#   Commanded vehicle depth:407.477205 
#   Seafloor depth:-472.290265
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 259.25;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.96;
MB_Bottom_Detect_Filter_Max_Range = 259.25;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 259.25;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 302
#   Segment length 101.572836 meters
#   Minimum depth: 451.676608 meters looking forward 100.000000 meters along route
#   Maximum depth: 463.471182 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.676608 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796398;
longitude = -121.896622;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 395.804653;
finalDepth = 401.676608;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 64.81306
#   Actual altitude: 64.81306
#   Commanded vehicle depth:401.676608 
#   Seafloor depth:-457.025848
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 259.25;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.96;
MB_Bottom_Detect_Filter_Max_Range = 259.25;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 259.25;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 302
#   Segment length 101.572836 meters
#   Minimum depth: 445.804653 meters looking forward 100.000000 meters along route
#   Maximum depth: 450.653152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 395.804653 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795977;
longitude = -121.896510;
captureRadius = 10;
duration = 101;
initialDepth = 394.153072;
finalDepth = 395.804653;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.34924
#   Actual altitude: 55.34924
#   Commanded vehicle depth:395.804653 
#   Seafloor depth:-450.653152
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 301
#   Segment length 101.572836 meters
#   Minimum depth: 444.153072 meters looking forward 100.000000 meters along route
#   Maximum depth: 447.794746 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 394.153072 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795061;
longitude = -121.896267;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 392.776226;
finalDepth = 394.153072;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.848499
#   Actual altitude: 54.848499
#   Commanded vehicle depth:394.153072 
#   Seafloor depth:-447.368950
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.39;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.97;
MB_Bottom_Detect_Filter_Max_Range = 219.39;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 301
#   Segment length 101.572836 meters
#   Minimum depth: 442.776226 meters looking forward 100.000000 meters along route
#   Maximum depth: 449.964305 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 392.776226 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794935;
longitude = -121.895912;
captureRadius = 10;
duration = 101;
initialDepth = 392.776226;
finalDepth = 392.776226;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.215878
#   Actual altitude: 53.215878
#   Commanded vehicle depth:392.776226 
#   Seafloor depth:-444.046127
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.86;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.86;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 300
#   Segment length 101.572836 meters
#   Minimum depth: 442.776226 meters looking forward 100.000000 meters along route
#   Maximum depth: 450.379807 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 392.776226 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794565;
longitude = -121.894866;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 393.307049;
finalDepth = 392.776226;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.603581
#   Actual altitude: 57.603581
#   Commanded vehicle depth:392.776226 
#   Seafloor depth:-450.379807
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 230.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.52;
MB_Bottom_Detect_Filter_Max_Range = 230.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 230.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 300
#   Segment length 101.572836 meters
#   Minimum depth: 448.862319 meters looking forward 100.000000 meters along route
#   Maximum depth: 450.201702 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.307049 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794571;
longitude = -121.894848;
captureRadius = 10;
duration = 101;
initialDepth = 397.432054;
finalDepth = 393.307049;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.603581
#   Actual altitude: 57.603581
#   Commanded vehicle depth:393.307048999998 
#   Seafloor depth:-450.201702
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 230.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.52;
MB_Bottom_Detect_Filter_Max_Range = 230.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 230.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 300
#   Segment length 101.572836 meters
#   Minimum depth: 447.432054 meters looking forward 100.000000 meters along route
#   Maximum depth: 448.965657 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.432054 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794915;
longitude = -121.893783;
captureRadius = 10;
duration = 101;
initialDepth = 396.519532;
finalDepth = 397.432054;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.8946530000019
#   Actual altitude: 56.8946530000019
#   Commanded vehicle depth:397.432054 
#   Seafloor depth:-448.965657
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.58;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.38;
MB_Bottom_Detect_Filter_Max_Range = 227.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 300
#   Segment length 101.572836 meters
#   Minimum depth: 446.519532 meters looking forward 100.000000 meters along route
#   Maximum depth: 447.469271 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.519532 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795258;
longitude = -121.892719;
captureRadius = 10;
duration = 101;
initialDepth = 394.256787;
finalDepth = 396.519532;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.533603
#   Actual altitude: 51.533603
#   Commanded vehicle depth:396.519532 
#   Seafloor depth:-447.469271
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.31;
MB_Bottom_Detect_Filter_Max_Range = 206.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 300
#   Segment length 101.572836 meters
#   Minimum depth: 444.256787 meters looking forward 100.000000 meters along route
#   Maximum depth: 446.849839 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 394.256787 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795602;
longitude = -121.891655;
captureRadius = 10;
duration = 101;
initialDepth = 390.921325;
finalDepth = 394.256787;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.593052
#   Actual altitude: 52.593052
#   Commanded vehicle depth:394.256787 
#   Seafloor depth:-446.849839
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 300
#   Segment length 101.572836 meters
#   Minimum depth: 440.921325 meters looking forward 100.000000 meters along route
#   Maximum depth: 444.476311 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.921325 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795946;
longitude = -121.890590;
captureRadius = 10;
duration = 101;
initialDepth = 386.711354;
finalDepth = 390.921325;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.554986
#   Actual altitude: 53.554986
#   Commanded vehicle depth:390.921325 
#   Seafloor depth:-444.476311
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 300
#   Segment length 101.572836 meters
#   Minimum depth: 436.711354 meters looking forward 100.000000 meters along route
#   Maximum depth: 440.882618 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 386.711354 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796293;
longitude = -121.889516;
captureRadius = 10;
duration = 101;
initialDepth = 383.377914;
finalDepth = 386.711354;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.171264
#   Actual altitude: 54.171264
#   Commanded vehicle depth:386.711354 
#   Seafloor depth:-440.882618
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.83;
MB_Bottom_Detect_Filter_Max_Range = 216.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 300
#   Segment length 101.572836 meters
#   Minimum depth: 433.377914 meters looking forward 100.000000 meters along route
#   Maximum depth: 436.551026 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 383.377914 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796633;
longitude = -121.888461;
captureRadius = 10;
duration = 101;
initialDepth = 381.430263;
finalDepth = 383.377914;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.171264
#   Actual altitude: 54.171264
#   Commanded vehicle depth:383.377914 
#   Seafloor depth:-436.551026
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.83;
MB_Bottom_Detect_Filter_Max_Range = 216.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 299
#   Segment length 101.572836 meters
#   Minimum depth: 431.430263 meters looking forward 100.000000 meters along route
#   Maximum depth: 434.134403 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 381.430263 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796983;
longitude = -121.887378;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 379.804083;
finalDepth = 381.430263;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.173112
#   Actual altitude: 53.173112
#   Commanded vehicle depth:381.430263 
#   Seafloor depth:-433.287628
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 299
#   Segment length 101.572836 meters
#   Minimum depth: 429.804083 meters looking forward 100.000000 meters along route
#   Maximum depth: 431.431747 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 379.804083 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796843;
longitude = -121.886669;
captureRadius = 10;
duration = 101;
initialDepth = 379.789911;
finalDepth = 379.804083;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.857365
#   Actual altitude: 51.857365
#   Commanded vehicle depth:379.804083 
#   Seafloor depth:-431.349641
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 299
#   Segment length 101.572836 meters
#   Minimum depth: 429.789911 meters looking forward 100.000000 meters along route
#   Maximum depth: 430.889420 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 379.789911 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796623;
longitude = -121.885549;
captureRadius = 10;
duration = 101;
initialDepth = 379.249105;
finalDepth = 379.789911;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.545558
#   Actual altitude: 51.545558
#   Commanded vehicle depth:379.789911 
#   Seafloor depth:-429.789911
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.31;
MB_Bottom_Detect_Filter_Max_Range = 206.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 298
#   Segment length 101.572836 meters
#   Minimum depth: 429.249105 meters looking forward 100.000000 meters along route
#   Maximum depth: 430.886404 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 379.249105 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796398;
longitude = -121.884409;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 376.520650;
finalDepth = 379.249105;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.585101
#   Actual altitude: 51.585101
#   Commanded vehicle depth:379.249105 
#   Seafloor depth:-430.834206
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.32;
MB_Bottom_Detect_Filter_Max_Range = 206.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 298
#   Segment length 101.572836 meters
#   Minimum depth: 426.520650 meters looking forward 100.000000 meters along route
#   Maximum depth: 429.347697 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 376.520650 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795841;
longitude = -121.883644;
captureRadius = 10;
duration = 101;
initialDepth = 373.592460;
finalDepth = 376.520650;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.725318
#   Actual altitude: 52.725318
#   Commanded vehicle depth:376.52065 
#   Seafloor depth:-429.245968
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 210.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 298
#   Segment length 101.572836 meters
#   Minimum depth: 423.592460 meters looking forward 100.000000 meters along route
#   Maximum depth: 426.366441 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 373.592460 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795229;
longitude = -121.882804;
captureRadius = 10;
duration = 101;
initialDepth = 371.266249;
finalDepth = 373.592460;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.773981
#   Actual altitude: 52.773981
#   Commanded vehicle depth:373.59246 
#   Seafloor depth:-426.366441
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 298
#   Segment length 101.572836 meters
#   Minimum depth: 421.266249 meters looking forward 100.000000 meters along route
#   Maximum depth: 423.520429 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 371.266249 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794618;
longitude = -121.881963;
captureRadius = 10;
duration = 101;
initialDepth = 369.338449;
finalDepth = 371.266249;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.773981
#   Actual altitude: 52.773981
#   Commanded vehicle depth:371.266249 
#   Seafloor depth:-423.520429
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 297
#   Segment length 101.572836 meters
#   Minimum depth: 419.338449 meters looking forward 100.000000 meters along route
#   Maximum depth: 421.840295 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 369.338449 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793979;
longitude = -121.881086;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 362.916831;
finalDepth = 369.338449;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.25418
#   Actual altitude: 52.25418
#   Commanded vehicle depth:369.338449 
#   Seafloor depth:-421.081581
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 209.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 297
#   Segment length 101.572836 meters
#   Minimum depth: 412.916831 meters looking forward 100.000000 meters along route
#   Maximum depth: 419.508636 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 362.916831 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793722;
longitude = -121.880507;
captureRadius = 10;
duration = 101;
initialDepth = 358.407407;
finalDepth = 362.916831;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.533343
#   Actual altitude: 56.533343
#   Commanded vehicle depth:362.916831 
#   Seafloor depth:-419.450174
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.31;
MB_Bottom_Detect_Filter_Max_Range = 226.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 297
#   Segment length 101.572836 meters
#   Minimum depth: 408.407407 meters looking forward 100.000000 meters along route
#   Maximum depth: 412.911026 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 358.407407 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793273;
longitude = -121.879497;
captureRadius = 10;
duration = 101;
initialDepth = 358.285879;
finalDepth = 358.407407;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.533343
#   Actual altitude: 56.533343
#   Commanded vehicle depth:358.407407 
#   Seafloor depth:-412.911026
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.31;
MB_Bottom_Detect_Filter_Max_Range = 226.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 297
#   Segment length 101.572836 meters
#   Minimum depth: 408.285879 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.748160 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 358.285879 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792823;
longitude = -121.878482;
captureRadius = 10;
duration = 101;
initialDepth = 358.285879;
finalDepth = 358.285879;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.503619
#   Actual altitude: 54.503619
#   Commanded vehicle depth:358.285879 
#   Seafloor depth:-408.592614
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 296
#   Segment length 101.572836 meters
#   Minimum depth: 408.285879 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.830551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 358.285879 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792368;
longitude = -121.877458;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 356.918976;
finalDepth = 358.285879;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.544672
#   Actual altitude: 51.544672
#   Commanded vehicle depth:358.285879 
#   Seafloor depth:-409.830551
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.31;
MB_Bottom_Detect_Filter_Max_Range = 206.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 296
#   Segment length 101.572836 meters
#   Minimum depth: 406.918976 meters looking forward 100.000000 meters along route
#   Maximum depth: 409.038402 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 356.918976 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792417;
longitude = -121.877240;
captureRadius = 10;
duration = 101;
initialDepth = 352.955646;
finalDepth = 356.918976;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.02558
#   Actual altitude: 52.02558
#   Commanded vehicle depth:356.918976 
#   Seafloor depth:-408.944556
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 296
#   Segment length 101.572836 meters
#   Minimum depth: 402.955646 meters looking forward 100.000000 meters along route
#   Maximum depth: 406.707646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 352.955646 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792666;
longitude = -121.876137;
captureRadius = 10;
duration = 101;
initialDepth = 347.684648;
finalDepth = 352.955646;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.752
#   Actual altitude: 53.752
#   Commanded vehicle depth:352.955646 
#   Seafloor depth:-406.707646
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 215.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 296
#   Segment length 101.572836 meters
#   Minimum depth: 397.684648 meters looking forward 100.000000 meters along route
#   Maximum depth: 402.777904 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 347.684648 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792913;
longitude = -121.875045;
captureRadius = 10;
duration = 101;
initialDepth = 341.390101;
finalDepth = 347.684648;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.093256
#   Actual altitude: 55.093256
#   Commanded vehicle depth:347.684648 
#   Seafloor depth:-402.777904
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 296
#   Segment length 101.572836 meters
#   Minimum depth: 391.390101 meters looking forward 100.000000 meters along route
#   Maximum depth: 397.192485 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 341.390101 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793160;
longitude = -121.873953;
captureRadius = 10;
duration = 101;
initialDepth = 336.479806;
finalDepth = 341.390101;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.802384
#   Actual altitude: 55.802384
#   Commanded vehicle depth:341.390101 
#   Seafloor depth:-397.192485
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.16;
MB_Bottom_Detect_Filter_Max_Range = 223.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 295
#   Segment length 101.572836 meters
#   Minimum depth: 386.479806 meters looking forward 100.000000 meters along route
#   Maximum depth: 395.087391 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 336.479806 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793407;
longitude = -121.872858;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 334.558636;
finalDepth = 336.479806;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.802384
#   Actual altitude: 55.802384
#   Commanded vehicle depth:336.479806 
#   Seafloor depth:-390.544189
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.16;
MB_Bottom_Detect_Filter_Max_Range = 223.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 295
#   Segment length 101.572836 meters
#   Minimum depth: 384.558636 meters looking forward 100.000000 meters along route
#   Maximum depth: 386.302319 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 334.558636 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793602;
longitude = -121.872272;
captureRadius = 10;
duration = 101;
initialDepth = 335.392334;
finalDepth = 334.558636;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.064383
#   Actual altitude: 54.064383
#   Commanded vehicle depth:334.558636 
#   Seafloor depth:-386.302319
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 295
#   Segment length 101.572836 meters
#   Minimum depth: 385.392334 meters looking forward 100.000000 meters along route
#   Maximum depth: 389.444328 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 335.392334 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793949;
longitude = -121.871230;
captureRadius = 10;
duration = 101;
initialDepth = 339.098044;
finalDepth = 335.392334;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.743683
#   Actual altitude: 51.743683
#   Commanded vehicle depth:335.392334 
#   Seafloor depth:-385.392334
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.97;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 206.97;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.97;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 294
#   Segment length 101.572836 meters
#   Minimum depth: 389.098044 meters looking forward 100.000000 meters along route
#   Maximum depth: 390.699801 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 339.098044 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794297;
longitude = -121.870187;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 335.930386;
finalDepth = 339.098044;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.278634
#   Actual altitude: 50.278634
#   Commanded vehicle depth:339.098044 
#   Seafloor depth:-389.376678
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 294
#   Segment length 101.572836 meters
#   Minimum depth: 385.930386 meters looking forward 100.000000 meters along route
#   Maximum depth: 389.685666 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 335.930386 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794642;
longitude = -121.869303;
captureRadius = 10;
duration = 101;
initialDepth = 331.800039;
finalDepth = 335.930386;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.75528
#   Actual altitude: 53.75528
#   Commanded vehicle depth:335.930386 
#   Seafloor depth:-389.685666
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 215.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 294
#   Segment length 101.572836 meters
#   Minimum depth: 381.800039 meters looking forward 100.000000 meters along route
#   Maximum depth: 385.762254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 331.800039 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795036;
longitude = -121.868295;
captureRadius = 10;
duration = 101;
initialDepth = 328.188627;
finalDepth = 331.800039;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.962215
#   Actual altitude: 53.962215
#   Commanded vehicle depth:331.800039 
#   Seafloor depth:-385.762254
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 294
#   Segment length 101.572836 meters
#   Minimum depth: 378.188627 meters looking forward 100.000000 meters along route
#   Maximum depth: 381.660628 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 328.188627 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795430;
longitude = -121.867286;
captureRadius = 10;
duration = 101;
initialDepth = 321.589293;
finalDepth = 328.188627;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.962215
#   Actual altitude: 53.962215
#   Commanded vehicle depth:328.188627 
#   Seafloor depth:-381.660628
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 294
#   Segment length 101.572836 meters
#   Minimum depth: 371.589293 meters looking forward 100.000000 meters along route
#   Maximum depth: 377.843822 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 321.589293 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795823;
longitude = -121.866278;
captureRadius = 10;
duration = 101;
initialDepth = 321.149678;
finalDepth = 321.589293;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.254529
#   Actual altitude: 56.254529
#   Commanded vehicle depth:321.589293 
#   Seafloor depth:-377.843822
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.25;
MB_Bottom_Detect_Filter_Max_Range = 225.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 293
#   Segment length 101.572836 meters
#   Minimum depth: 371.149678 meters looking forward 100.000000 meters along route
#   Maximum depth: 377.206243 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 321.149678 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796232;
longitude = -121.865232;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 308.976753;
finalDepth = 321.149678;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.254529
#   Actual altitude: 56.254529
#   Commanded vehicle depth:321.149678 
#   Seafloor depth:-371.500725
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.25;
MB_Bottom_Detect_Filter_Max_Range = 225.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 293
#   Segment length 101.572836 meters
#   Minimum depth: 358.976753 meters looking forward 100.000000 meters along route
#   Maximum depth: 370.407032 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 308.976753 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796284;
longitude = -121.865158;
captureRadius = 10;
duration = 101;
initialDepth = 305.710825;
finalDepth = 308.976753;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.430279
#   Actual altitude: 61.430279
#   Commanded vehicle depth:308.976753 
#   Seafloor depth:-370.407032
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 245.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.29;
MB_Bottom_Detect_Filter_Max_Range = 245.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 245.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 293
#   Segment length 101.572836 meters
#   Minimum depth: 355.710825 meters looking forward 100.000000 meters along route
#   Maximum depth: 358.957921 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 305.710825 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796878;
longitude = -121.864313;
captureRadius = 10;
duration = 101;
initialDepth = 308.003261;
finalDepth = 305.710825;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.430279
#   Actual altitude: 61.430279
#   Commanded vehicle depth:305.710825 
#   Seafloor depth:-358.957921
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 245.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.29;
MB_Bottom_Detect_Filter_Max_Range = 245.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 245.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 292
#   Segment length 101.572836 meters
#   Minimum depth: 358.003261 meters looking forward 100.000000 meters along route
#   Maximum depth: 364.256219 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 308.003261 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797479;
longitude = -121.863459;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 312.596702;
finalDepth = 308.003261;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.247096
#   Actual altitude: 53.247096
#   Commanded vehicle depth:308.003261 
#   Seafloor depth:-358.294327
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.65;
MB_Bottom_Detect_Filter_Max_Range = 212.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 292
#   Segment length 101.572836 meters
#   Minimum depth: 362.596702 meters looking forward 100.000000 meters along route
#   Maximum depth: 364.501526 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 312.596702 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798185;
longitude = -121.862729;
captureRadius = 10;
duration = 101;
initialDepth = 309.758721;
finalDepth = 312.596702;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.684447
#   Actual altitude: 51.684447
#   Commanded vehicle depth:312.596702 
#   Seafloor depth:-364.281149
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.34;
MB_Bottom_Detect_Filter_Max_Range = 206.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 292
#   Segment length 101.572836 meters
#   Minimum depth: 359.758721 meters looking forward 100.000000 meters along route
#   Maximum depth: 362.648298 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 309.758721 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798906;
longitude = -121.861984;
captureRadius = 10;
duration = 101;
initialDepth = 305.970108;
finalDepth = 309.758721;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.719905
#   Actual altitude: 52.719905
#   Commanded vehicle depth:309.758721 
#   Seafloor depth:-362.478626
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 291
#   Segment length 101.572836 meters
#   Minimum depth: 355.970108 meters looking forward 100.000000 meters along route
#   Maximum depth: 361.374565 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 305.970108 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799612;
longitude = -121.861255;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 289.476920;
finalDepth = 305.970108;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.60183
#   Actual altitude: 53.60183
#   Commanded vehicle depth:305.970108 
#   Seafloor depth:-359.571938
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.72;
MB_Bottom_Detect_Filter_Max_Range = 214.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 291
#   Segment length 101.572836 meters
#   Minimum depth: 339.476920 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.675195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 289.476920 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800049;
longitude = -121.861012;
captureRadius = 10;
duration = 101;
initialDepth = 281.317586;
finalDepth = 289.476920;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.198275
#   Actual altitude: 66.198275
#   Commanded vehicle depth:289.47692 
#   Seafloor depth:-355.675195
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 264.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.24;
MB_Bottom_Detect_Filter_Max_Range = 264.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 264.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 291
#   Segment length 101.572836 meters
#   Minimum depth: 331.317586 meters looking forward 100.000000 meters along route
#   Maximum depth: 339.171096 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 281.317586 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800889;
longitude = -121.860546;
captureRadius = 10;
duration = 101;
initialDepth = 278.563894;
finalDepth = 281.317586;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 66.198275
#   Actual altitude: 66.198275
#   Commanded vehicle depth:281.317586 
#   Seafloor depth:-339.171096
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 264.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.24;
MB_Bottom_Detect_Filter_Max_Range = 264.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 264.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 290
#   Segment length 101.572836 meters
#   Minimum depth: 328.563894 meters looking forward 100.000000 meters along route
#   Maximum depth: 337.673237 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 278.563894 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801730;
longitude = -121.860079;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 278.978475;
finalDepth = 278.563894;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.85351
#   Actual altitude: 57.85351
#   Commanded vehicle depth:278.563894 
#   Seafloor depth:-330.992638
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.57;
MB_Bottom_Detect_Filter_Max_Range = 231.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 290
#   Segment length 101.572836 meters
#   Minimum depth: 328.978475 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.853356 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 278.978475 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801765;
longitude = -121.859612;
captureRadius = 10;
duration = 101;
initialDepth = 281.373840;
finalDepth = 278.978475;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.428744
#   Actual altitude: 52.428744
#   Commanded vehicle depth:278.978475 
#   Seafloor depth:-329.665479
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.49;
MB_Bottom_Detect_Filter_Max_Range = 209.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 289
#   Segment length 101.572836 meters
#   Minimum depth: 331.373840 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.853356 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 281.373840 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801850;
longitude = -121.858473;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 280.854301;
finalDepth = 281.373840;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.341111
#   Actual altitude: 53.341111
#   Commanded vehicle depth:281.37384 
#   Seafloor depth:-334.714951
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 289
#   Segment length 101.572836 meters
#   Minimum depth: 330.854301 meters looking forward 100.000000 meters along route
#   Maximum depth: 332.226952 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 280.854301 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801339;
longitude = -121.857704;
captureRadius = 10;
duration = 101;
initialDepth = 279.665330;
finalDepth = 280.854301;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.341111
#   Actual altitude: 53.341111
#   Commanded vehicle depth:280.854301 
#   Seafloor depth:-332.054213
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 289
#   Segment length 101.572836 meters
#   Minimum depth: 329.665330 meters looking forward 100.000000 meters along route
#   Maximum depth: 330.836468 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 279.665330 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800747;
longitude = -121.856811;
captureRadius = 10;
duration = 101;
initialDepth = 277.907988;
finalDepth = 279.665330;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.199912
#   Actual altitude: 51.199912
#   Commanded vehicle depth:279.66533 
#   Seafloor depth:-330.836468
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 289
#   Segment length 101.572836 meters
#   Minimum depth: 327.907988 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.606325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 277.907988 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800152;
longitude = -121.855915;
captureRadius = 10;
duration = 101;
initialDepth = 276.102030;
finalDepth = 277.907988;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.698337
#   Actual altitude: 51.698337
#   Commanded vehicle depth:277.907988 
#   Seafloor depth:-329.606325
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.34;
MB_Bottom_Detect_Filter_Max_Range = 206.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 288
#   Segment length 101.572836 meters
#   Minimum depth: 326.102030 meters looking forward 100.000000 meters along route
#   Maximum depth: 328.374646 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 276.102030 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799562;
longitude = -121.855025;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 270.662862;
finalDepth = 276.102030;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.851507
#   Actual altitude: 51.851507
#   Commanded vehicle depth:276.10203 
#   Seafloor depth:-327.953537
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 288
#   Segment length 101.572836 meters
#   Minimum depth: 320.662862 meters looking forward 100.000000 meters along route
#   Maximum depth: 325.903186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 270.662862 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798951;
longitude = -121.854506;
captureRadius = 10;
duration = 101;
initialDepth = 264.343131;
finalDepth = 270.662862;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.240324
#   Actual altitude: 55.240324
#   Commanded vehicle depth:270.662862 
#   Seafloor depth:-325.903186
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.05;
MB_Bottom_Detect_Filter_Max_Range = 220.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 287
#   Segment length 101.572836 meters
#   Minimum depth: 314.343131 meters looking forward 100.000000 meters along route
#   Maximum depth: 321.878499 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 264.343131 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798199;
longitude = -121.853867;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 263.253609;
finalDepth = 264.343131;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.317781
#   Actual altitude: 56.317781
#   Commanded vehicle depth:264.343131 
#   Seafloor depth:-320.660912
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.26;
MB_Bottom_Detect_Filter_Max_Range = 225.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 287
#   Segment length 101.572836 meters
#   Minimum depth: 313.253609 meters looking forward 100.000000 meters along route
#   Maximum depth: 315.462292 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 263.253609 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797735;
longitude = -121.853380;
captureRadius = 10;
duration = 101;
initialDepth = 264.139550;
finalDepth = 263.253609;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.317781
#   Actual altitude: 56.317781
#   Commanded vehicle depth:263.253609 
#   Seafloor depth:-314.039391
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.26;
MB_Bottom_Detect_Filter_Max_Range = 225.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 286
#   Segment length 101.572836 meters
#   Minimum depth: 314.139550 meters looking forward 100.000000 meters along route
#   Maximum depth: 316.125441 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 264.139550 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797023;
longitude = -121.852634;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 263.115307;
finalDepth = 264.139550;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.366958
#   Actual altitude: 51.366958
#   Commanded vehicle depth:264.13955 
#   Seafloor depth:-315.506508
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.27;
MB_Bottom_Detect_Filter_Max_Range = 205.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 286
#   Segment length 101.572836 meters
#   Minimum depth: 313.115307 meters looking forward 100.000000 meters along route
#   Maximum depth: 314.562989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 263.115307 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796653;
longitude = -121.852141;
captureRadius = 10;
duration = 101;
initialDepth = 262.066672;
finalDepth = 263.115307;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.366958
#   Actual altitude: 51.366958
#   Commanded vehicle depth:263.115307 
#   Seafloor depth:-314.353764
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.27;
MB_Bottom_Detect_Filter_Max_Range = 205.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 285
#   Segment length 101.572836 meters
#   Minimum depth: 312.066672 meters looking forward 100.000000 meters along route
#   Maximum depth: 314.304500 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 262.066672 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796014;
longitude = -121.851289;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 259.247089;
finalDepth = 262.066672;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.238457
#   Actual altitude: 51.238457
#   Commanded vehicle depth:262.066672 
#   Seafloor depth:-313.288704
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.95;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.25;
MB_Bottom_Detect_Filter_Max_Range = 204.95;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.95;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 285
#   Segment length 101.572836 meters
#   Minimum depth: 309.247089 meters looking forward 100.000000 meters along route
#   Maximum depth: 312.092057 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 259.247089 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795821;
longitude = -121.850873;
captureRadius = 10;
duration = 101;
initialDepth = 254.130835;
finalDepth = 259.247089;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.787068
#   Actual altitude: 52.787068
#   Commanded vehicle depth:259.247089 
#   Seafloor depth:-312.034157
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 285
#   Segment length 101.572836 meters
#   Minimum depth: 304.130835 meters looking forward 100.000000 meters along route
#   Maximum depth: 309.377376 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 254.130835 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795346;
longitude = -121.849852;
captureRadius = 10;
duration = 101;
initialDepth = 252.334468;
finalDepth = 254.130835;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.246541
#   Actual altitude: 55.246541
#   Commanded vehicle depth:254.130835 
#   Seafloor depth:-309.377376
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.05;
MB_Bottom_Detect_Filter_Max_Range = 220.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 284
#   Segment length 101.572836 meters
#   Minimum depth: 302.334468 meters looking forward 100.000000 meters along route
#   Maximum depth: 305.804348 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 252.334468 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794894;
longitude = -121.848879;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 247.746238;
finalDepth = 252.334468;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.246541
#   Actual altitude: 55.246541
#   Commanded vehicle depth:252.334468 
#   Seafloor depth:-304.394630
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.05;
MB_Bottom_Detect_Filter_Max_Range = 220.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 284
#   Segment length 101.572836 meters
#   Minimum depth: 297.746238 meters looking forward 100.000000 meters along route
#   Maximum depth: 302.206703 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 247.746238 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794570;
longitude = -121.848016;
captureRadius = 10;
duration = 101;
initialDepth = 243.566282;
finalDepth = 247.746238;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.460465
#   Actual altitude: 54.460465
#   Commanded vehicle depth:247.746238 
#   Seafloor depth:-302.206703
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.84;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.84;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.84;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 284
#   Segment length 101.572836 meters
#   Minimum depth: 293.566282 meters looking forward 100.000000 meters along route
#   Maximum depth: 298.104482 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 243.566282 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794175;
longitude = -121.846964;
captureRadius = 10;
duration = 101;
initialDepth = 240.507292;
finalDepth = 243.566282;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.518167
#   Actual altitude: 54.518167
#   Commanded vehicle depth:243.566282 
#   Seafloor depth:-298.084449
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 283
#   Segment length 101.572836 meters
#   Minimum depth: 290.507292 meters looking forward 100.000000 meters along route
#   Maximum depth: 295.427522 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 240.507292 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793792;
longitude = -121.845946;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 236.928097;
finalDepth = 240.507292;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.518167
#   Actual altitude: 54.518167
#   Commanded vehicle depth:240.507292 
#   Seafloor depth:-293.352623
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 283
#   Segment length 101.572836 meters
#   Minimum depth: 286.928097 meters looking forward 100.000000 meters along route
#   Maximum depth: 290.110571 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 236.928097 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793565;
longitude = -121.845327;
captureRadius = 10;
duration = 101;
initialDepth = 234.115229;
finalDepth = 236.928097;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.182474
#   Actual altitude: 53.182474
#   Commanded vehicle depth:236.928097 
#   Seafloor depth:-290.110571
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 282
#   Segment length 101.572836 meters
#   Minimum depth: 284.115229 meters looking forward 100.000000 meters along route
#   Maximum depth: 288.228792 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 234.115229 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793176;
longitude = -121.844265;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 230.381018;
finalDepth = 234.115229;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.182474
#   Actual altitude: 53.182474
#   Commanded vehicle depth:234.115229 
#   Seafloor depth:-287.022446
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 282
#   Segment length 101.572836 meters
#   Minimum depth: 280.381018 meters looking forward 100.000000 meters along route
#   Maximum depth: 284.325970 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 230.381018 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792958;
longitude = -121.843479;
captureRadius = 10;
duration = 101;
initialDepth = 228.087617;
finalDepth = 230.381018;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.732209
#   Actual altitude: 53.732209
#   Commanded vehicle depth:230.381018 
#   Seafloor depth:-284.113227
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.93;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 281
#   Segment length 101.572836 meters
#   Minimum depth: 278.087617 meters looking forward 100.000000 meters along route
#   Maximum depth: 280.720910 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 228.087617 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792653;
longitude = -121.842379;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 223.129401;
finalDepth = 228.087617;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.732209
#   Actual altitude: 53.732209
#   Commanded vehicle depth:228.087617 
#   Seafloor depth:-280.514801
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.93;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 281
#   Segment length 101.572836 meters
#   Minimum depth: 273.129401 meters looking forward 100.000000 meters along route
#   Maximum depth: 277.631656 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 223.129401 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792440;
longitude = -121.841574;
captureRadius = 10;
duration = 101;
initialDepth = 221.472919;
finalDepth = 223.129401;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.502255
#   Actual altitude: 54.502255
#   Commanded vehicle depth:223.129401 
#   Seafloor depth:-277.631656
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 280
#   Segment length 101.572836 meters
#   Minimum depth: 271.472919 meters looking forward 100.000000 meters along route
#   Maximum depth: 275.471781 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 221.472919 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792149;
longitude = -121.840473;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 217.431218;
finalDepth = 221.472919;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.502255
#   Actual altitude: 54.502255
#   Commanded vehicle depth:221.472919 
#   Seafloor depth:-272.961433
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 280
#   Segment length 101.572836 meters
#   Minimum depth: 267.431218 meters looking forward 100.000000 meters along route
#   Maximum depth: 271.944161 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 217.431218 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792033;
longitude = -121.839893;
captureRadius = 10;
duration = 101;
initialDepth = 214.370078;
finalDepth = 217.431218;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.512943
#   Actual altitude: 54.512943
#   Commanded vehicle depth:217.431218 
#   Seafloor depth:-271.944161
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 279
#   Segment length 101.572836 meters
#   Minimum depth: 264.370078 meters looking forward 100.000000 meters along route
#   Maximum depth: 267.965669 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 214.370078 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791813;
longitude = -121.838792;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 207.751861;
finalDepth = 214.370078;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.512943
#   Actual altitude: 54.512943
#   Commanded vehicle depth:214.370078 
#   Seafloor depth:-267.318291
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 279
#   Segment length 101.572836 meters
#   Minimum depth: 257.751861 meters looking forward 100.000000 meters along route
#   Maximum depth: 264.175886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 207.751861 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791554;
longitude = -121.837821;
captureRadius = 10;
duration = 101;
initialDepth = 202.844144;
finalDepth = 207.751861;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.424025
#   Actual altitude: 56.424025
#   Commanded vehicle depth:207.751861 
#   Seafloor depth:-264.175886
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.28;
MB_Bottom_Detect_Filter_Max_Range = 225.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 278
#   Segment length 101.572836 meters
#   Minimum depth: 252.844144 meters looking forward 100.000000 meters along route
#   Maximum depth: 258.452051 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 202.844144 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791271;
longitude = -121.836756;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 199.458810;
finalDepth = 202.844144;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.424025
#   Actual altitude: 56.424025
#   Commanded vehicle depth:202.844144 
#   Seafloor depth:-257.631989
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.28;
MB_Bottom_Detect_Filter_Max_Range = 225.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 278
#   Segment length 101.572836 meters
#   Minimum depth: 249.458810 meters looking forward 100.000000 meters along route
#   Maximum depth: 252.826608 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 199.458810 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791020;
longitude = -121.835742;
captureRadius = 10;
duration = 101;
initialDepth = 199.453434;
finalDepth = 199.458810;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.787845
#   Actual altitude: 54.787845
#   Commanded vehicle depth:199.45881 
#   Seafloor depth:-252.826608
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 277
#   Segment length 101.572836 meters
#   Minimum depth: 249.453434 meters looking forward 100.000000 meters along route
#   Maximum depth: 250.904092 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 199.453434 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790749;
longitude = -121.834645;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 196.479912;
finalDepth = 199.453434;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.367798
#   Actual altitude: 53.367798
#   Commanded vehicle depth:199.453434 
#   Seafloor depth:-249.698364
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 277
#   Segment length 101.572836 meters
#   Minimum depth: 246.479912 meters looking forward 100.000000 meters along route
#   Maximum depth: 250.230138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 196.479912 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790626;
longitude = -121.834348;
captureRadius = 10;
duration = 101;
initialDepth = 194.286050;
finalDepth = 196.479912;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.402565
#   Actual altitude: 53.402565
#   Commanded vehicle depth:196.479912 
#   Seafloor depth:-249.882477
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.68;
MB_Bottom_Detect_Filter_Max_Range = 213.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 276
#   Segment length 101.572836 meters
#   Minimum depth: 244.286050 meters looking forward 100.000000 meters along route
#   Maximum depth: 250.230138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 194.286050 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790207;
longitude = -121.833337;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 187.409014;
finalDepth = 194.286050;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.402565
#   Actual altitude: 53.402565
#   Commanded vehicle depth:194.28605 
#   Seafloor depth:-246.495502
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.68;
MB_Bottom_Detect_Filter_Max_Range = 213.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 276
#   Segment length 101.572836 meters
#   Minimum depth: 237.409014 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.194670 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 187.409014 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790116;
longitude = -121.833115;
captureRadius = 10;
duration = 101;
initialDepth = 187.176490;
finalDepth = 187.409014;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.785656
#   Actual altitude: 56.785656
#   Commanded vehicle depth:187.409014 
#   Seafloor depth:-244.194670
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.14;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.36;
MB_Bottom_Detect_Filter_Max_Range = 227.14;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 275
#   Segment length 101.572836 meters
#   Minimum depth: 237.176490 meters looking forward 100.000000 meters along route
#   Maximum depth: 243.189077 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 187.176490 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789703;
longitude = -121.832105;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 180.849250;
finalDepth = 187.176490;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.785656
#   Actual altitude: 56.785656
#   Commanded vehicle depth:187.17649 
#   Seafloor depth:-237.532841
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.14;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.36;
MB_Bottom_Detect_Filter_Max_Range = 227.14;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 275
#   Segment length 101.572836 meters
#   Minimum depth: 230.849250 meters looking forward 100.000000 meters along route
#   Maximum depth: 237.102466 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 180.849250 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789669;
longitude = -121.831987;
captureRadius = 10;
duration = 101;
initialDepth = 180.849250;
finalDepth = 180.849250;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.253216
#   Actual altitude: 56.253216
#   Commanded vehicle depth:180.84925 
#   Seafloor depth:-237.102466
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.25;
MB_Bottom_Detect_Filter_Max_Range = 225.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 274
#   Segment length 101.572836 meters
#   Minimum depth: 230.849250 meters looking forward 100.000000 meters along route
#   Maximum depth: 234.898288 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 180.849250 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789348;
longitude = -121.830890;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 182.420002;
finalDepth = 180.849250;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.253216
#   Actual altitude: 56.253216
#   Commanded vehicle depth:180.84925 
#   Seafloor depth:-232.443066
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.25;
MB_Bottom_Detect_Filter_Max_Range = 225.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 274
#   Segment length 101.572836 meters
#   Minimum depth: 232.420002 meters looking forward 100.000000 meters along route
#   Maximum depth: 233.805802 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 182.420002 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789366;
longitude = -121.830538;
captureRadius = 10;
duration = 101;
initialDepth = 181.300049;
finalDepth = 182.420002;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.593816
#   Actual altitude: 51.593816
#   Commanded vehicle depth:182.420002 
#   Seafloor depth:-232.919770
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.32;
MB_Bottom_Detect_Filter_Max_Range = 206.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 273
#   Segment length 101.572836 meters
#   Minimum depth: 231.300049 meters looking forward 100.000000 meters along route
#   Maximum depth: 235.458377 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 181.300049 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789423;
longitude = -121.829415;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 179.812022;
finalDepth = 181.300049;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.036167
#   Actual altitude: 52.036167
#   Commanded vehicle depth:181.300049 
#   Seafloor depth:-233.336216
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.14;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.14;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 273
#   Segment length 101.572836 meters
#   Minimum depth: 229.812022 meters looking forward 100.000000 meters along route
#   Maximum depth: 232.825759 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 179.812022 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789554;
longitude = -121.829026;
captureRadius = 10;
duration = 101;
initialDepth = 179.450381;
finalDepth = 179.812022;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.036167
#   Actual altitude: 52.036167
#   Commanded vehicle depth:179.812022 
#   Seafloor depth:-231.642758
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.14;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.14;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 272
#   Segment length 101.572836 meters
#   Minimum depth: 229.450381 meters looking forward 100.000000 meters along route
#   Maximum depth: 232.825759 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 179.450381 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789908;
longitude = -121.827976;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 177.060195;
finalDepth = 179.450381;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.830736
#   Actual altitude: 51.830736
#   Commanded vehicle depth:179.450381 
#   Seafloor depth:-230.008591
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.32;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.32;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.32;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 272
#   Segment length 101.572836 meters
#   Minimum depth: 227.060195 meters looking forward 100.000000 meters along route
#   Maximum depth: 229.815482 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 177.060195 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790093;
longitude = -121.827625;
captureRadius = 10;
duration = 101;
initialDepth = 176.959850;
finalDepth = 177.060195;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.755287
#   Actual altitude: 52.755287
#   Commanded vehicle depth:177.060195 
#   Seafloor depth:-229.815482
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 271
#   Segment length 101.572836 meters
#   Minimum depth: 226.959850 meters looking forward 100.000000 meters along route
#   Maximum depth: 229.475290 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 176.959850 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790599;
longitude = -121.826669;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 175.100184;
finalDepth = 176.959850;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.755287
#   Actual altitude: 52.755287
#   Commanded vehicle depth:176.95985 
#   Seafloor depth:-226.959850
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 271
#   Segment length 101.572836 meters
#   Minimum depth: 225.100184 meters looking forward 100.000000 meters along route
#   Maximum depth: 227.358853 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 175.100184 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790628;
longitude = -121.826617;
captureRadius = 10;
duration = 101;
initialDepth = 174.385737;
finalDepth = 175.100184;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.994831
#   Actual altitude: 51.994831
#   Commanded vehicle depth:175.100184 
#   Seafloor depth:-227.095015
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.98;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.40;
MB_Bottom_Detect_Filter_Max_Range = 207.98;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 270
#   Segment length 101.572836 meters
#   Minimum depth: 224.385737 meters looking forward 100.000000 meters along route
#   Maximum depth: 227.042418 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 174.385737 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791159;
longitude = -121.825660;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 171.125025;
finalDepth = 174.385737;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.994831
#   Actual altitude: 51.994831
#   Commanded vehicle depth:174.385737 
#   Seafloor depth:-224.878403
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.98;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.40;
MB_Bottom_Detect_Filter_Max_Range = 207.98;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 270
#   Segment length 101.572836 meters
#   Minimum depth: 221.125025 meters looking forward 100.000000 meters along route
#   Maximum depth: 224.435303 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 171.125025 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791291;
longitude = -121.825480;
captureRadius = 10;
duration = 101;
initialDepth = 166.285963;
finalDepth = 171.125025;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.236228
#   Actual altitude: 53.236228
#   Commanded vehicle depth:171.125025 
#   Seafloor depth:-224.361253
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.94;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.65;
MB_Bottom_Detect_Filter_Max_Range = 212.94;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 269
#   Segment length 101.572836 meters
#   Minimum depth: 216.285963 meters looking forward 100.000000 meters along route
#   Maximum depth: 222.160655 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 166.285963 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791925;
longitude = -121.824614;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 165.871860;
finalDepth = 166.285963;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.428816
#   Actual altitude: 55.428816
#   Commanded vehicle depth:166.285963 
#   Seafloor depth:-221.714779
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.09;
MB_Bottom_Detect_Filter_Max_Range = 221.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 268
#   Segment length 101.572836 meters
#   Minimum depth: 215.871860 meters looking forward 100.000000 meters along route
#   Maximum depth: 222.057989 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 165.871860 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792485;
longitude = -121.823885;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 165.126054;
finalDepth = 165.871860;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.428816
#   Actual altitude: 55.428816
#   Commanded vehicle depth:165.87186 
#   Seafloor depth:-216.129261
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.09;
MB_Bottom_Detect_Filter_Max_Range = 221.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 268
#   Segment length 101.572836 meters
#   Minimum depth: 215.126054 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.589809 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 165.126054 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792635;
longitude = -121.823704;
captureRadius = 10;
duration = 101;
initialDepth = 164.866344;
finalDepth = 165.126054;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.52478
#   Actual altitude: 50.52478
#   Commanded vehicle depth:165.126054 
#   Seafloor depth:-215.650834
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.10;
MB_Bottom_Detect_Filter_Max_Range = 202.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 267
#   Segment length 101.572836 meters
#   Minimum depth: 214.866344 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.589809 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 164.866344 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793288;
longitude = -121.822914;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 160.718678;
finalDepth = 164.866344;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.52478
#   Actual altitude: 50.52478
#   Commanded vehicle depth:164.866344 
#   Seafloor depth:-215.188606
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.10;
MB_Bottom_Detect_Filter_Max_Range = 202.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 267
#   Segment length 101.572836 meters
#   Minimum depth: 210.718678 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.364477 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 160.718678 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793417;
longitude = -121.822864;
captureRadius = 10;
duration = 101;
initialDepth = 160.718678;
finalDepth = 160.718678;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.253901
#   Actual altitude: 54.253901
#   Commanded vehicle depth:160.718678 
#   Seafloor depth:-214.972579
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 217.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 266
#   Segment length 101.572836 meters
#   Minimum depth: 210.718678 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.070635 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 160.718678 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794297;
longitude = -121.822522;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 156.836669;
finalDepth = 160.718678;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.253901
#   Actual altitude: 54.253901
#   Commanded vehicle depth:160.718678 
#   Seafloor depth:-210.773357
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 217.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 266
#   Segment length 101.572836 meters
#   Minimum depth: 206.836669 meters looking forward 100.000000 meters along route
#   Maximum depth: 210.904131 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 156.836669 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794355;
longitude = -121.822510;
captureRadius = 10;
duration = 101;
initialDepth = 156.836669;
finalDepth = 156.836669;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.067462
#   Actual altitude: 54.067462
#   Commanded vehicle depth:156.836669 
#   Seafloor depth:-210.904131
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 265
#   Segment length 101.572836 meters
#   Minimum depth: 206.836669 meters looking forward 100.000000 meters along route
#   Maximum depth: 210.044903 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 156.836669 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795286;
longitude = -121.822316;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 154.311239;
finalDepth = 156.836669;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.067462
#   Actual altitude: 54.067462
#   Commanded vehicle depth:156.836669 
#   Seafloor depth:-206.872231
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 265
#   Segment length 101.572836 meters
#   Minimum depth: 204.311239 meters looking forward 100.000000 meters along route
#   Maximum depth: 207.127461 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 154.311239 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795391;
longitude = -121.822310;
captureRadius = 10;
duration = 101;
initialDepth = 152.762036;
finalDepth = 154.311239;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.816222
#   Actual altitude: 52.816222
#   Commanded vehicle depth:154.311239 
#   Seafloor depth:-207.127461
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 264
#   Segment length 101.572836 meters
#   Minimum depth: 202.762036 meters looking forward 100.000000 meters along route
#   Maximum depth: 205.741745 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 152.762036 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796295;
longitude = -121.822260;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 149.303145;
finalDepth = 152.762036;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.816222
#   Actual altitude: 52.816222
#   Commanded vehicle depth:152.762036 
#   Seafloor depth:-204.215763
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 264
#   Segment length 101.572836 meters
#   Minimum depth: 199.303145 meters looking forward 100.000000 meters along route
#   Maximum depth: 202.728287 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 149.303145 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796878;
longitude = -121.822238;
captureRadius = 10;
duration = 101;
initialDepth = 148.188544;
finalDepth = 149.303145;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.425142
#   Actual altitude: 53.425142
#   Commanded vehicle depth:149.303145 
#   Seafloor depth:-202.728287
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.69;
MB_Bottom_Detect_Filter_Max_Range = 213.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 263
#   Segment length 101.572836 meters
#   Minimum depth: 198.188544 meters looking forward 100.000000 meters along route
#   Maximum depth: 201.072588 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 148.188544 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797807;
longitude = -121.822204;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 143.843413;
finalDepth = 148.188544;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.425142
#   Actual altitude: 53.425142
#   Commanded vehicle depth:148.188544 
#   Seafloor depth:-199.072941
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.69;
MB_Bottom_Detect_Filter_Max_Range = 213.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 263
#   Segment length 101.572836 meters
#   Minimum depth: 193.843413 meters looking forward 100.000000 meters along route
#   Maximum depth: 198.099549 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 143.843413 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798005;
longitude = -121.822201;
captureRadius = 10;
duration = 101;
initialDepth = 139.528107;
finalDepth = 143.843413;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.256136
#   Actual altitude: 54.256136
#   Commanded vehicle depth:143.843413 
#   Seafloor depth:-198.099549
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 217.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 262
#   Segment length 101.572836 meters
#   Minimum depth: 189.528107 meters looking forward 100.000000 meters along route
#   Maximum depth: 193.843413 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 139.528107 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798946;
longitude = -121.822186;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 138.463167;
finalDepth = 139.528107;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.256136
#   Actual altitude: 54.256136
#   Commanded vehicle depth:139.528107 
#   Seafloor depth:-193.526016
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 217.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 261
#   Segment length 101.572836 meters
#   Minimum depth: 188.463167 meters looking forward 100.000000 meters along route
#   Maximum depth: 191.520104 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 138.463167 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799731;
longitude = -121.821905;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 138.189432;
finalDepth = 138.463167;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.997909
#   Actual altitude: 53.997909
#   Commanded vehicle depth:138.463167 
#   Seafloor depth:-191.419003
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 215.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 260
#   Segment length 101.572836 meters
#   Minimum depth: 188.189432 meters looking forward 100.000000 meters along route
#   Maximum depth: 191.071110 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 138.189432 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799843;
longitude = -121.820897;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 134.636871;
finalDepth = 138.189432;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.955836
#   Actual altitude: 52.955836
#   Commanded vehicle depth:138.189432 
#   Seafloor depth:-188.396774
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.82;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.82;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.82;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 260
#   Segment length 101.572836 meters
#   Minimum depth: 184.636871 meters looking forward 100.000000 meters along route
#   Maximum depth: 187.559299 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 134.636871 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799788;
longitude = -121.820735;
captureRadius = 10;
duration = 101;
initialDepth = 130.088480;
finalDepth = 134.636871;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.624364
#   Actual altitude: 52.624364
#   Commanded vehicle depth:134.636871 
#   Seafloor depth:-187.261235
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 259
#   Segment length 101.572836 meters
#   Minimum depth: 180.088480 meters looking forward 100.000000 meters along route
#   Maximum depth: 185.064492 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 130.088480 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799432;
longitude = -121.819682;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 130.088480;
finalDepth = 130.088480;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.225931
#   Actual altitude: 54.225931
#   Commanded vehicle depth:130.08848 
#   Seafloor depth:-184.314411
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 216.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 258
#   Segment length 101.572836 meters
#   Minimum depth: 180.088480 meters looking forward 100.000000 meters along route
#   Maximum depth: 184.642846 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 130.088480 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799114;
longitude = -121.818767;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 128.037048;
finalDepth = 130.088480;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.225931
#   Actual altitude: 54.225931
#   Commanded vehicle depth:130.08848 
#   Seafloor depth:-180.437801
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 216.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 258
#   Segment length 101.572836 meters
#   Minimum depth: 178.037048 meters looking forward 100.000000 meters along route
#   Maximum depth: 180.448007 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 128.037048 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799100;
longitude = -121.818718;
captureRadius = 10;
duration = 101;
initialDepth = 125.471147;
finalDepth = 128.037048;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.410959
#   Actual altitude: 52.410959
#   Commanded vehicle depth:128.037048 
#   Seafloor depth:-180.448007
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 258
#   Segment length 101.572836 meters
#   Minimum depth: 175.471147 meters looking forward 100.000000 meters along route
#   Maximum depth: 178.646686 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 125.471147 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798796;
longitude = -121.817654;
captureRadius = 10;
duration = 101;
initialDepth = 125.471147;
finalDepth = 125.471147;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.410959
#   Actual altitude: 52.410959
#   Commanded vehicle depth:125.471147 
#   Seafloor depth:-177.826525
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 257
#   Segment length 101.572836 meters
#   Minimum depth: 175.471147 meters looking forward 100.000000 meters along route
#   Maximum depth: 178.646686 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 125.471147 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798479;
longitude = -121.816544;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 120.939607;
finalDepth = 125.471147;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.355378
#   Actual altitude: 52.355378
#   Commanded vehicle depth:125.471147 
#   Seafloor depth:-175.677921
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 257
#   Segment length 101.572836 meters
#   Minimum depth: 170.939607 meters looking forward 100.000000 meters along route
#   Maximum depth: 175.733222 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 120.939607 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798470;
longitude = -121.816422;
captureRadius = 10;
duration = 101;
initialDepth = 119.961689;
finalDepth = 120.939607;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.793615
#   Actual altitude: 54.793615
#   Commanded vehicle depth:120.939607 
#   Seafloor depth:-175.733222
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 256
#   Segment length 101.572836 meters
#   Minimum depth: 169.961689 meters looking forward 100.000000 meters along route
#   Maximum depth: 174.930592 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 119.961689 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798386;
longitude = -121.815293;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 111.990640;
finalDepth = 119.961689;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.793615
#   Actual altitude: 54.793615
#   Commanded vehicle depth:119.961689 
#   Seafloor depth:-170.969269
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 256
#   Segment length 101.572836 meters
#   Minimum depth: 161.990640 meters looking forward 100.000000 meters along route
#   Maximum depth: 170.116639 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 111.990640 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798420;
longitude = -121.815189;
captureRadius = 10;
duration = 101;
initialDepth = 111.872780;
finalDepth = 111.990640;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.011897
#   Actual altitude: 58.011897
#   Commanded vehicle depth:111.99064 
#   Seafloor depth:-170.002537
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 232.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.60;
MB_Bottom_Detect_Filter_Max_Range = 232.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 232.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 255
#   Segment length 101.572836 meters
#   Minimum depth: 161.872780 meters looking forward 100.000000 meters along route
#   Maximum depth: 165.512996 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 111.872780 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798760;
longitude = -121.814134;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 108.207865;
finalDepth = 111.872780;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.011897
#   Actual altitude: 58.011897
#   Commanded vehicle depth:111.87278 
#   Seafloor depth:-162.056572
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 232.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.60;
MB_Bottom_Detect_Filter_Max_Range = 232.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 232.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 255
#   Segment length 101.572836 meters
#   Minimum depth: 158.207865 meters looking forward 100.000000 meters along route
#   Maximum depth: 161.761567 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 108.207865 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799093;
longitude = -121.813901;
captureRadius = 10;
duration = 101;
initialDepth = 108.192113;
finalDepth = 108.207865;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.553702
#   Actual altitude: 53.553702
#   Commanded vehicle depth:108.207865 
#   Seafloor depth:-161.761567
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 254
#   Segment length 101.572836 meters
#   Minimum depth: 158.192113 meters looking forward 100.000000 meters along route
#   Maximum depth: 160.733727 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 108.192113 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799880;
longitude = -121.813350;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 106.080725;
finalDepth = 108.192113;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.553702
#   Actual altitude: 53.553702
#   Commanded vehicle depth:108.192113 
#   Seafloor depth:-159.591278
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 253
#   Segment length 101.572836 meters
#   Minimum depth: 156.080725 meters looking forward 100.000000 meters along route
#   Maximum depth: 160.733727 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 106.080725 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800384;
longitude = -121.812846;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 97.086843;
finalDepth = 106.080725;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.399165
#   Actual altitude: 51.399165
#   Commanded vehicle depth:106.080725 
#   Seafloor depth:-156.926903
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.28;
MB_Bottom_Detect_Filter_Max_Range = 205.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 253
#   Segment length 101.572836 meters
#   Minimum depth: 147.086843 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.630033 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 97.086843 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800430;
longitude = -121.812780;
captureRadius = 10;
duration = 101;
initialDepth = 96.589974;
finalDepth = 97.086843;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.54319
#   Actual altitude: 60.54319
#   Commanded vehicle depth:97.086843 
#   Seafloor depth:-157.630033
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 242.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.11;
MB_Bottom_Detect_Filter_Max_Range = 242.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 242.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 252
#   Segment length 101.572836 meters
#   Minimum depth: 146.589974 meters looking forward 100.000000 meters along route
#   Maximum depth: 148.904306 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 96.589974 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801019;
longitude = -121.811930;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 91.438432;
finalDepth = 96.589974;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.54319
#   Actual altitude: 60.54319
#   Commanded vehicle depth:96.589974 
#   Seafloor depth:-148.342472
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 242.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.11;
MB_Bottom_Detect_Filter_Max_Range = 242.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 242.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 252
#   Segment length 101.572836 meters
#   Minimum depth: 141.438432 meters looking forward 100.000000 meters along route
#   Maximum depth: 152.498949 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 91.438432 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801306;
longitude = -121.811268;
captureRadius = 10;
duration = 101;
initialDepth = 91.438432;
finalDepth = 91.438432;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.28746
#   Actual altitude: 55.28746
#   Commanded vehicle depth:91.438432 
#   Seafloor depth:-146.725892
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.06;
MB_Bottom_Detect_Filter_Max_Range = 221.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 251
#   Segment length 101.572836 meters
#   Minimum depth: 141.438432 meters looking forward 100.000000 meters along route
#   Maximum depth: 152.498949 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 91.438432 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801747;
longitude = -121.810249;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 94.358613;
finalDepth = 91.438432;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.975745
#   Actual altitude: 59.975745
#   Commanded vehicle depth:91.438432 
#   Seafloor depth:-151.414177
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 239.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.00;
MB_Bottom_Detect_Filter_Max_Range = 239.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 239.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 251
#   Segment length 101.572836 meters
#   Minimum depth: 144.358613 meters looking forward 100.000000 meters along route
#   Maximum depth: 150.167203 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 94.358613 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801891;
longitude = -121.809867;
captureRadius = 10;
duration = 101;
initialDepth = 89.882212;
finalDepth = 94.358613;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.975745
#   Actual altitude: 59.975745
#   Commanded vehicle depth:94.358613 
#   Seafloor depth:-149.975773
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 239.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.00;
MB_Bottom_Detect_Filter_Max_Range = 239.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 239.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 250
#   Segment length 101.572836 meters
#   Minimum depth: 139.882212 meters looking forward 100.000000 meters along route
#   Maximum depth: 145.518359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 89.882212 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802289;
longitude = -121.808811;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 78.806948;
finalDepth = 89.882212;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.61716
#   Actual altitude: 55.61716
#   Commanded vehicle depth:89.882212 
#   Seafloor depth:-143.905285
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.12;
MB_Bottom_Detect_Filter_Max_Range = 222.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 250
#   Segment length 101.572836 meters
#   Minimum depth: 128.806948 meters looking forward 100.000000 meters along route
#   Maximum depth: 139.831815 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 78.806948 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802496;
longitude = -121.807907;
captureRadius = 10;
duration = 101;
initialDepth = 76.865175;
finalDepth = 78.806948;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.845475
#   Actual altitude: 60.845475
#   Commanded vehicle depth:78.806948 
#   Seafloor depth:-139.652423
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 243.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.17;
MB_Bottom_Detect_Filter_Max_Range = 243.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 243.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 249
#   Segment length 101.572836 meters
#   Minimum depth: 126.865175 meters looking forward 100.000000 meters along route
#   Maximum depth: 132.629209 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 76.865175 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802756;
longitude = -121.806775;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 74.016736;
finalDepth = 76.865175;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.845475
#   Actual altitude: 60.845475
#   Commanded vehicle depth:76.865175 
#   Seafloor depth:-128.444338
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 243.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.17;
MB_Bottom_Detect_Filter_Max_Range = 243.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 243.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 249
#   Segment length 101.572836 meters
#   Minimum depth: 124.016736 meters looking forward 100.000000 meters along route
#   Maximum depth: 129.165101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 74.016736 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802843;
longitude = -121.806058;
captureRadius = 10;
duration = 101;
initialDepth = 69.023626;
finalDepth = 74.016736;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.148365
#   Actual altitude: 55.148365
#   Commanded vehicle depth:74.016736 
#   Seafloor depth:-129.165101
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.03;
MB_Bottom_Detect_Filter_Max_Range = 220.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 248
#   Segment length 101.572836 meters
#   Minimum depth: 119.023626 meters looking forward 100.000000 meters along route
#   Maximum depth: 124.497241 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 69.023626 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802980;
longitude = -121.804925;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 63.161605;
finalDepth = 69.023626;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.369063
#   Actual altitude: 55.369063
#   Commanded vehicle depth:69.023626 
#   Seafloor depth:-124.392689
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 248
#   Segment length 101.572836 meters
#   Minimum depth: 113.161605 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.950501 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 63.161605 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803056;
longitude = -121.803985;
captureRadius = 10;
duration = 101;
initialDepth = 62.746939;
finalDepth = 63.161605;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.788896
#   Actual altitude: 55.788896
#   Commanded vehicle depth:63.161605 
#   Seafloor depth:-118.950501
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.16;
MB_Bottom_Detect_Filter_Max_Range = 223.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 247
#   Segment length 101.572836 meters
#   Minimum depth: 112.746939 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.072594 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 62.746939 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803148;
longitude = -121.802852;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 62.813841;
finalDepth = 62.746939;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.788896
#   Actual altitude: 55.788896
#   Commanded vehicle depth:62.746939 
#   Seafloor depth:-112.746939
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.16;
MB_Bottom_Detect_Filter_Max_Range = 223.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 247
#   Segment length 101.572836 meters
#   Minimum depth: 112.813841 meters looking forward 100.000000 meters along route
#   Maximum depth: 116.266517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 62.813841 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803151;
longitude = -121.802753;
captureRadius = 10;
duration = 101;
initialDepth = 62.813841;
finalDepth = 62.813841;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.320162
#   Actual altitude: 50.320162
#   Commanded vehicle depth:62.813841 
#   Seafloor depth:-113.134003
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 246
#   Segment length 101.572836 meters
#   Minimum depth: 112.813841 meters looking forward 100.000000 meters along route
#   Maximum depth: 116.266517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 62.813841 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803185;
longitude = -121.801582;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 34.272393;
finalDepth = 62.813841;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.409359
#   Actual altitude: 52.409359
#   Commanded vehicle depth:62.813841 
#   Seafloor depth:-115.223200
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 246
#   Segment length 101.572836 meters
#   Minimum depth: 84.272393 meters looking forward 100.000000 meters along route
#   Maximum depth: 114.294298 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 34.272393 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803232;
longitude = -121.801595;
captureRadius = 10;
duration = 101;
initialDepth = 34.272393;
finalDepth = 34.272393;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 80.021905
#   Actual altitude: 80.021905
#   Commanded vehicle depth:34.272393 
#   Seafloor depth:-114.294298
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 320.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 16.00;
MB_Bottom_Detect_Filter_Max_Range = 320.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 320.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# Ascend, gps, descend after reaching waypoint 245 at end of line 245
#######################################################
# Turn on power to sonars and restart logging on the PLC 
behavior reson
{
Log_Mode = 1;
duration = 6;
MB_Power = 220;
SBP_Power = 100.0;
LoSS_Power = 100.0;
}
#######################################################
# Acoustic update - sent status ping before resuming logging 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 167.085101;
pitch = -30.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 167.085101;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 300;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
# Acoustic update - sent status ping before ascent 
# 
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;
Log_Mode = 0;
MB_Power = 0.0;
SBP_Power = 0.0;
LoSS_Power = 0.0;
}
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 245
#   Segment length 101.572836 meters
#   Minimum depth: 84.272393 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.267101 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 34.272393 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804156;
longitude = -121.801843;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 35.037403;
finalDepth = 34.272393;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 80.021905
#   Actual altitude: 80.021905
#   Commanded vehicle depth:34.272393 
#   Seafloor depth:-90.023331
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 320.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 16.00;
MB_Bottom_Detect_Filter_Max_Range = 320.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 320.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 245
#   Segment length 101.572836 meters
#   Minimum depth: 90.195741 meters looking forward 100.000000 meters along route
#   Maximum depth: 102.894113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 35.037403 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804178;
longitude = -121.801850;
captureRadius = 10;
duration = 101;
initialDepth = 41.980180;
finalDepth = 35.037403;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.750938
#   Actual altitude: 55.750938
#   Commanded vehicle depth:35.0374025999998 
#   Seafloor depth:-90.195741
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.15;
MB_Bottom_Detect_Filter_Max_Range = 223.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 244
#   Segment length 101.572836 meters
#   Minimum depth: 91.980180 meters looking forward 100.000000 meters along route
#   Maximum depth: 104.041041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 41.980180 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805053;
longitude = -121.802123;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 51.725269;
finalDepth = 41.980180;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.154542
#   Actual altitude: 61.154542
#   Commanded vehicle depth:41.98018 
#   Seafloor depth:-103.134722
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 244.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.23;
MB_Bottom_Detect_Filter_Max_Range = 244.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 244.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 244
#   Segment length 101.572836 meters
#   Minimum depth: 104.347010 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.706957 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 51.725269 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804972;
longitude = -121.802473;
captureRadius = 10;
duration = 101;
initialDepth = 54.451993;
finalDepth = 51.725269;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.154542
#   Actual altitude: 61.154542
#   Commanded vehicle depth:51.7252689999986 
#   Seafloor depth:-104.347010
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 244.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.23;
MB_Bottom_Detect_Filter_Max_Range = 244.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 244.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 243
#   Segment length 101.572836 meters
#   Minimum depth: 104.451993 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.706957 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 54.451993 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804716;
longitude = -121.803580;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 54.853642;
finalDepth = 54.451993;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.373332
#   Actual altitude: 56.373332
#   Commanded vehicle depth:54.451993 
#   Seafloor depth:-110.825325
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.27;
MB_Bottom_Detect_Filter_Max_Range = 225.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 243
#   Segment length 101.572836 meters
#   Minimum depth: 111.995038 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.632511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 54.853642 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804710;
longitude = -121.803593;
captureRadius = 10;
duration = 101;
initialDepth = 64.053913;
finalDepth = 54.853642;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.1413962999999
#   Actual altitude: 57.1413962999999
#   Commanded vehicle depth:54.8536417000001 
#   Seafloor depth:-111.995038
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 228.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.43;
MB_Bottom_Detect_Filter_Max_Range = 228.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 228.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 243
#   Segment length 101.572836 meters
#   Minimum depth: 114.053913 meters looking forward 100.000000 meters along route
#   Maximum depth: 118.648458 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 64.053913 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804285;
longitude = -121.804602;
captureRadius = 10;
duration = 101;
initialDepth = 63.929912;
finalDepth = 64.053913;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.1413962999999
#   Actual altitude: 57.1413962999999
#   Commanded vehicle depth:64.053913 
#   Seafloor depth:-118.576988
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 228.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.43;
MB_Bottom_Detect_Filter_Max_Range = 228.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 228.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 242
#   Segment length 101.572836 meters
#   Minimum depth: 113.929912 meters looking forward 100.000000 meters along route
#   Maximum depth: 123.093267 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 63.929912 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803857;
longitude = -121.805616;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 73.322371;
finalDepth = 63.929912;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.523075
#   Actual altitude: 54.523075
#   Commanded vehicle depth:63.929912 
#   Seafloor depth:-114.199736
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.90;
MB_Bottom_Detect_Filter_Max_Range = 218.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 242
#   Segment length 101.572836 meters
#   Minimum depth: 123.322371 meters looking forward 100.000000 meters along route
#   Maximum depth: 131.536605 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 73.322371 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803412;
longitude = -121.806590;
captureRadius = 10;
duration = 101;
initialDepth = 80.717486;
finalDepth = 73.322371;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.269824
#   Actual altitude: 50.269824
#   Commanded vehicle depth:73.322371 
#   Seafloor depth:-123.322371
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.05;
MB_Bottom_Detect_Filter_Max_Range = 201.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 241
#   Segment length 101.572836 meters
#   Minimum depth: 130.717486 meters looking forward 100.000000 meters along route
#   Maximum depth: 133.902936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 80.717486 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802961;
longitude = -121.807578;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 83.375142;
finalDepth = 80.717486;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.427019
#   Actual altitude: 50.427019
#   Commanded vehicle depth:80.717486 
#   Seafloor depth:-131.144505
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.09;
MB_Bottom_Detect_Filter_Max_Range = 201.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 241
#   Segment length 101.572836 meters
#   Minimum depth: 133.375142 meters looking forward 100.000000 meters along route
#   Maximum depth: 138.654307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 83.375142 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802809;
longitude = -121.808187;
captureRadius = 10;
duration = 101;
initialDepth = 85.760261;
finalDepth = 83.375142;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.427019
#   Actual altitude: 50.427019
#   Commanded vehicle depth:83.375142 
#   Seafloor depth:-133.375142
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.09;
MB_Bottom_Detect_Filter_Max_Range = 201.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 240
#   Segment length 101.572836 meters
#   Minimum depth: 135.760261 meters looking forward 100.000000 meters along route
#   Maximum depth: 139.540519 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 85.760261 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802532;
longitude = -121.809296;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 84.191702;
finalDepth = 85.760261;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.764031
#   Actual altitude: 52.764031
#   Commanded vehicle depth:85.760261 
#   Seafloor depth:-138.524292
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 240
#   Segment length 101.572836 meters
#   Minimum depth: 134.191702 meters looking forward 100.000000 meters along route
#   Maximum depth: 138.089540 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 84.191702 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802432;
longitude = -121.809867;
captureRadius = 10;
duration = 101;
initialDepth = 84.191702;
finalDepth = 84.191702;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.897838
#   Actual altitude: 53.897838
#   Commanded vehicle depth:84.191702 
#   Seafloor depth:-138.089540
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.78;
MB_Bottom_Detect_Filter_Max_Range = 215.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 239
#   Segment length 101.572836 meters
#   Minimum depth: 134.191702 meters looking forward 100.000000 meters along route
#   Maximum depth: 136.721668 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 84.191702 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802233;
longitude = -121.810996;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 87.488867;
finalDepth = 84.191702;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.897838
#   Actual altitude: 53.897838
#   Commanded vehicle depth:84.191702 
#   Seafloor depth:-134.780846
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.78;
MB_Bottom_Detect_Filter_Max_Range = 215.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 239
#   Segment length 101.572836 meters
#   Minimum depth: 137.488867 meters looking forward 100.000000 meters along route
#   Maximum depth: 148.067539 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 87.488867 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801989;
longitude = -121.811436;
captureRadius = 10;
duration = 101;
initialDepth = 89.766162;
finalDepth = 87.488867;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.589144
#   Actual altitude: 50.589144
#   Commanded vehicle depth:87.488867 
#   Seafloor depth:-137.488867
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 238
#   Segment length 101.572836 meters
#   Minimum depth: 139.766162 meters looking forward 100.000000 meters along route
#   Maximum depth: 148.883558 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 89.766162 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801467;
longitude = -121.812379;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 92.072279;
finalDepth = 89.766162;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.88807
#   Actual altitude: 57.88807
#   Commanded vehicle depth:89.766162 
#   Seafloor depth:-147.654232
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.58;
MB_Bottom_Detect_Filter_Max_Range = 231.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 238
#   Segment length 101.572836 meters
#   Minimum depth: 148.914505 meters looking forward 100.000000 meters along route
#   Maximum depth: 151.049510 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 92.072279 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801422;
longitude = -121.812444;
captureRadius = 10;
duration = 101;
initialDepth = 100.918266;
finalDepth = 92.072279;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.88807
#   Actual altitude: 57.88807
#   Commanded vehicle depth:92.0722785000006 
#   Seafloor depth:-148.914505
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.58;
MB_Bottom_Detect_Filter_Max_Range = 231.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 237
#   Segment length 101.572836 meters
#   Minimum depth: 150.918266 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.522479 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 100.918266 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800832;
longitude = -121.813294;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 101.778968;
finalDepth = 100.918266;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.8422264999993
#   Actual altitude: 56.8422264999993
#   Commanded vehicle depth:100.918266 
#   Seafloor depth:-150.941162
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.37;
MB_Bottom_Detect_Filter_Max_Range = 227.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 236
#   Segment length 101.572836 meters
#   Minimum depth: 151.778968 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.996798 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 101.778968 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800104;
longitude = -121.813742;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 106.642108;
finalDepth = 101.778968;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.153951
#   Actual altitude: 56.153951
#   Commanded vehicle depth:101.778968 
#   Seafloor depth:-157.932919
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.23;
MB_Bottom_Detect_Filter_Max_Range = 224.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 236
#   Segment length 101.572836 meters
#   Minimum depth: 156.642108 meters looking forward 100.000000 meters along route
#   Maximum depth: 161.847055 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 106.642108 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799943;
longitude = -121.813817;
captureRadius = 10;
duration = 101;
initialDepth = 111.825287;
finalDepth = 106.642108;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.153951
#   Actual altitude: 56.153951
#   Commanded vehicle depth:106.642108 
#   Seafloor depth:-157.057974
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.23;
MB_Bottom_Detect_Filter_Max_Range = 224.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 235
#   Segment length 101.572836 meters
#   Minimum depth: 161.825287 meters looking forward 100.000000 meters along route
#   Maximum depth: 166.543511 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 111.825287 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799058;
longitude = -121.814228;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 115.168067;
finalDepth = 111.825287;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.415866
#   Actual altitude: 50.415866
#   Commanded vehicle depth:111.825287 
#   Seafloor depth:-161.825287
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.66;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.08;
MB_Bottom_Detect_Filter_Max_Range = 201.66;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 234
#   Segment length 101.572836 meters
#   Minimum depth: 165.168067 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.896236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 115.168067 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798610;
longitude = -121.815125;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 118.532083;
finalDepth = 115.168067;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.225362
#   Actual altitude: 51.225362
#   Commanded vehicle depth:115.168067 
#   Seafloor depth:-166.393429
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.25;
MB_Bottom_Detect_Filter_Max_Range = 204.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 234
#   Segment length 101.572836 meters
#   Minimum depth: 168.532083 meters looking forward 100.000000 meters along route
#   Maximum depth: 177.566826 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 118.532083 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798626;
longitude = -121.816029;
captureRadius = 10;
duration = 101;
initialDepth = 126.589416;
finalDepth = 118.532083;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.225362
#   Actual altitude: 51.225362
#   Commanded vehicle depth:118.532083 
#   Seafloor depth:-168.532083
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.25;
MB_Bottom_Detect_Filter_Max_Range = 204.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 233
#   Segment length 101.572836 meters
#   Minimum depth: 176.589416 meters looking forward 100.000000 meters along route
#   Maximum depth: 179.774871 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 126.589416 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798647;
longitude = -121.817161;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 128.711249;
finalDepth = 126.589416;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.645428
#   Actual altitude: 50.645428
#   Commanded vehicle depth:126.589416 
#   Seafloor depth:-177.234844
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.58;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 233
#   Segment length 101.572836 meters
#   Minimum depth: 178.711249 meters looking forward 100.000000 meters along route
#   Maximum depth: 181.928790 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 128.711249 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798964;
longitude = -121.818214;
captureRadius = 10;
duration = 101;
initialDepth = 128.711249;
finalDepth = 128.711249;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.131966
#   Actual altitude: 51.131966
#   Commanded vehicle depth:128.711249 
#   Seafloor depth:-179.843215
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.23;
MB_Bottom_Detect_Filter_Max_Range = 204.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 232
#   Segment length 101.572836 meters
#   Minimum depth: 178.711249 meters looking forward 100.000000 meters along route
#   Maximum depth: 182.123632 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 128.711249 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799282;
longitude = -121.819271;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 132.810416;
finalDepth = 128.711249;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.865243
#   Actual altitude: 52.865243
#   Commanded vehicle depth:128.711249 
#   Seafloor depth:-181.576492
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 232
#   Segment length 101.572836 meters
#   Minimum depth: 182.810416 meters looking forward 100.000000 meters along route
#   Maximum depth: 187.451868 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 132.810416 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799402;
longitude = -121.819590;
captureRadius = 10;
duration = 101;
initialDepth = 137.253064;
finalDepth = 132.810416;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.865243
#   Actual altitude: 52.865243
#   Commanded vehicle depth:132.810416 
#   Seafloor depth:-182.810416
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 231
#   Segment length 101.572836 meters
#   Minimum depth: 187.253064 meters looking forward 100.000000 meters along route
#   Maximum depth: 190.811480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 137.253064 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799787;
longitude = -121.820616;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 139.353218;
finalDepth = 137.253064;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.119723
#   Actual altitude: 50.119723
#   Commanded vehicle depth:137.253064 
#   Seafloor depth:-187.372787
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.02;
MB_Bottom_Detect_Filter_Max_Range = 200.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 230
#   Segment length 101.572836 meters
#   Minimum depth: 189.353218 meters looking forward 100.000000 meters along route
#   Maximum depth: 191.535886 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 139.353218 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799824;
longitude = -121.821700;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 140.799420;
finalDepth = 139.353218;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.443047
#   Actual altitude: 51.443047
#   Commanded vehicle depth:139.353218 
#   Seafloor depth:-190.796265
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.77;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.29;
MB_Bottom_Detect_Filter_Max_Range = 205.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 229
#   Segment length 101.572836 meters
#   Minimum depth: 190.799420 meters looking forward 100.000000 meters along route
#   Maximum depth: 196.931299 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 140.799420 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799320;
longitude = -121.822148;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 146.931299;
finalDepth = 140.799420;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.443047
#   Actual altitude: 51.443047
#   Commanded vehicle depth:140.79942 
#   Seafloor depth:-191.901207
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.77;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.29;
MB_Bottom_Detect_Filter_Max_Range = 205.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 228
#   Segment length 101.572836 meters
#   Minimum depth: 196.931299 meters looking forward 100.000000 meters along route
#   Maximum depth: 200.547959 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 146.931299 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798554;
longitude = -121.822410;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 148.463682;
finalDepth = 146.931299;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.101787
#   Actual altitude: 51.101787
#   Commanded vehicle depth:146.931299 
#   Seafloor depth:-197.154713
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.22;
MB_Bottom_Detect_Filter_Max_Range = 204.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 227
#   Segment length 101.572836 meters
#   Minimum depth: 198.463682 meters looking forward 100.000000 meters along route
#   Maximum depth: 201.083664 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 148.463682 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797695;
longitude = -121.822484;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 150.865368;
finalDepth = 148.463682;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.510424
#   Actual altitude: 52.510424
#   Commanded vehicle depth:148.463682 
#   Seafloor depth:-200.974106
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.50;
MB_Bottom_Detect_Filter_Max_Range = 210.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 227
#   Segment length 101.572836 meters
#   Minimum depth: 200.865368 meters looking forward 100.000000 meters along route
#   Maximum depth: 203.140035 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 150.865368 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797554;
longitude = -121.822499;
captureRadius = 10;
duration = 101;
initialDepth = 151.337794;
finalDepth = 150.865368;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.510424
#   Actual altitude: 52.510424
#   Commanded vehicle depth:150.865368 
#   Seafloor depth:-200.865368
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.50;
MB_Bottom_Detect_Filter_Max_Range = 210.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 226
#   Segment length 101.572836 meters
#   Minimum depth: 201.337794 meters looking forward 100.000000 meters along route
#   Maximum depth: 203.548365 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 151.337794 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796631;
longitude = -121.822597;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 153.656099;
finalDepth = 151.337794;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.758584
#   Actual altitude: 51.758584
#   Commanded vehicle depth:151.337794 
#   Seafloor depth:-203.096378
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 207.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 226
#   Segment length 101.572836 meters
#   Minimum depth: 203.656099 meters looking forward 100.000000 meters along route
#   Maximum depth: 206.481758 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 153.656099 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796473;
longitude = -121.822605;
captureRadius = 10;
duration = 101;
initialDepth = 153.686452;
finalDepth = 153.656099;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.758584
#   Actual altitude: 51.758584
#   Commanded vehicle depth:153.656099 
#   Seafloor depth:-203.693488
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 207.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 225
#   Segment length 101.572836 meters
#   Minimum depth: 203.686452 meters looking forward 100.000000 meters along route
#   Maximum depth: 206.481758 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 153.686452 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795566;
longitude = -121.822653;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 156.148748;
finalDepth = 153.686452;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.606021
#   Actual altitude: 52.606021
#   Commanded vehicle depth:153.686452 
#   Seafloor depth:-206.292473
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 225
#   Segment length 101.572836 meters
#   Minimum depth: 206.148748 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.717243 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 156.148748 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795481;
longitude = -121.822667;
captureRadius = 10;
duration = 101;
initialDepth = 157.748516;
finalDepth = 156.148748;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.606021
#   Actual altitude: 52.606021
#   Commanded vehicle depth:156.148748 
#   Seafloor depth:-206.148748
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 224
#   Segment length 101.572836 meters
#   Minimum depth: 207.748516 meters looking forward 100.000000 meters along route
#   Maximum depth: 210.938069 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 157.748516 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794558;
longitude = -121.822821;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 161.118626;
finalDepth = 157.748516;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.488793
#   Actual altitude: 51.488793
#   Commanded vehicle depth:157.748516 
#   Seafloor depth:-209.237309
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 205.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 224
#   Segment length 101.572836 meters
#   Minimum depth: 211.118626 meters looking forward 100.000000 meters along route
#   Maximum depth: 214.171974 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 161.118626 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794085;
longitude = -121.822979;
captureRadius = 10;
duration = 101;
initialDepth = 161.658597;
finalDepth = 161.118626;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.488793
#   Actual altitude: 51.488793
#   Commanded vehicle depth:161.118626 
#   Seafloor depth:-211.118626
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 205.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 223
#   Segment length 101.572836 meters
#   Minimum depth: 211.658597 meters looking forward 100.000000 meters along route
#   Maximum depth: 214.298501 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 161.658597 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793213;
longitude = -121.823269;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 162.050173;
finalDepth = 161.658597;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.569438
#   Actual altitude: 52.569438
#   Commanded vehicle depth:161.658597 
#   Seafloor depth:-214.228035
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 223
#   Segment length 101.572836 meters
#   Minimum depth: 212.050173 meters looking forward 100.000000 meters along route
#   Maximum depth: 215.924448 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 162.050173 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793093;
longitude = -121.823424;
captureRadius = 10;
duration = 101;
initialDepth = 165.924448;
finalDepth = 162.050173;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.569438
#   Actual altitude: 52.569438
#   Commanded vehicle depth:162.050173 
#   Seafloor depth:-213.822075
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 222
#   Segment length 101.572836 meters
#   Minimum depth: 215.924448 meters looking forward 100.000000 meters along route
#   Maximum depth: 223.102487 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 165.924448 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792448;
longitude = -121.824259;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 170.248557;
finalDepth = 165.924448;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.771902
#   Actual altitude: 51.771902
#   Commanded vehicle depth:165.924448 
#   Seafloor depth:-216.919640
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 207.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 221
#   Segment length 101.572836 meters
#   Minimum depth: 220.248557 meters looking forward 100.000000 meters along route
#   Maximum depth: 223.776452 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 170.248557 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791888;
longitude = -121.825100;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 173.843435;
finalDepth = 170.248557;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.627236
#   Actual altitude: 52.627236
#   Commanded vehicle depth:170.248557 
#   Seafloor depth:-222.875793
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.53;
MB_Bottom_Detect_Filter_Max_Range = 210.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 221
#   Segment length 101.572836 meters
#   Minimum depth: 223.843435 meters looking forward 100.000000 meters along route
#   Maximum depth: 226.839351 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 173.843435 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791779;
longitude = -121.825272;
captureRadius = 10;
duration = 101;
initialDepth = 173.972958;
finalDepth = 173.843435;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.627236
#   Actual altitude: 52.627236
#   Commanded vehicle depth:173.843435 
#   Seafloor depth:-223.843435
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.53;
MB_Bottom_Detect_Filter_Max_Range = 210.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 220
#   Segment length 101.572836 meters
#   Minimum depth: 223.972958 meters looking forward 100.000000 meters along route
#   Maximum depth: 226.839351 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 173.972958 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791215;
longitude = -121.826164;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 176.061186;
finalDepth = 173.972958;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.700992
#   Actual altitude: 52.700992
#   Commanded vehicle depth:173.972958 
#   Seafloor depth:-226.673950
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 220
#   Segment length 101.572836 meters
#   Minimum depth: 226.964353 meters looking forward 100.000000 meters along route
#   Maximum depth: 228.716878 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 176.061186 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791176;
longitude = -121.826225;
captureRadius = 10;
duration = 101;
initialDepth = 177.693811;
finalDepth = 176.061186;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.700992
#   Actual altitude: 52.700992
#   Commanded vehicle depth:176.061186000001 
#   Seafloor depth:-226.964353
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 219
#   Segment length 101.572836 meters
#   Minimum depth: 227.693811 meters looking forward 100.000000 meters along route
#   Maximum depth: 229.174938 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 177.693811 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790599;
longitude = -121.827117;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 179.128219;
finalDepth = 177.693811;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.9031669999995
#   Actual altitude: 50.9031669999995
#   Commanded vehicle depth:177.693811 
#   Seafloor depth:-228.233524
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 219
#   Segment length 101.572836 meters
#   Minimum depth: 229.128219 meters looking forward 100.000000 meters along route
#   Maximum depth: 231.462350 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 179.128219 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790525;
longitude = -121.827291;
captureRadius = 10;
duration = 101;
initialDepth = 180.318103;
finalDepth = 179.128219;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.539713
#   Actual altitude: 50.539713
#   Commanded vehicle depth:179.128219 
#   Seafloor depth:-229.128219
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.11;
MB_Bottom_Detect_Filter_Max_Range = 202.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 218
#   Segment length 101.572836 meters
#   Minimum depth: 230.318103 meters looking forward 100.000000 meters along route
#   Maximum depth: 231.462350 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 180.318103 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790095;
longitude = -121.828294;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 178.528866;
finalDepth = 180.318103;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.846642
#   Actual altitude: 50.846642
#   Commanded vehicle depth:180.318103 
#   Seafloor depth:-231.164745
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.39;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.17;
MB_Bottom_Detect_Filter_Max_Range = 203.39;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 218
#   Segment length 101.572836 meters
#   Minimum depth: 228.528866 meters looking forward 100.000000 meters along route
#   Maximum depth: 233.069144 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 178.528866 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789990;
longitude = -121.828746;
captureRadius = 10;
duration = 101;
initialDepth = 177.444149;
finalDepth = 178.528866;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.833889
#   Actual altitude: 52.833889
#   Commanded vehicle depth:178.528866 
#   Seafloor depth:-231.362755
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 217
#   Segment length 101.572836 meters
#   Minimum depth: 227.444149 meters looking forward 100.000000 meters along route
#   Maximum depth: 233.069144 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 177.444149 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789740;
longitude = -121.829826;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 177.600647;
finalDepth = 177.444149;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.833889
#   Actual altitude: 52.833889
#   Commanded vehicle depth:177.444149 
#   Seafloor depth:-228.482319
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 217
#   Segment length 101.572836 meters
#   Minimum depth: 227.600647 meters looking forward 100.000000 meters along route
#   Maximum depth: 233.567344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 177.600647 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789744;
longitude = -121.829922;
captureRadius = 10;
duration = 101;
initialDepth = 178.184777;
finalDepth = 177.600647;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.03817
#   Actual altitude: 51.03817
#   Commanded vehicle depth:177.600647 
#   Seafloor depth:-227.721508
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 216
#   Segment length 101.572836 meters
#   Minimum depth: 228.184777 meters looking forward 100.000000 meters along route
#   Maximum depth: 234.247184 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 178.184777 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789796;
longitude = -121.831059;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 183.711002;
finalDepth = 178.184777;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.326545
#   Actual altitude: 55.326545
#   Commanded vehicle depth:178.184777 
#   Seafloor depth:-233.511322
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 216
#   Segment length 101.572836 meters
#   Minimum depth: 233.711002 meters looking forward 100.000000 meters along route
#   Maximum depth: 236.084589 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 183.711002 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789905;
longitude = -121.831266;
captureRadius = 10;
duration = 101;
initialDepth = 183.711002;
finalDepth = 183.711002;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.326545
#   Actual altitude: 55.326545
#   Commanded vehicle depth:183.711002 
#   Seafloor depth:-234.181871
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 215
#   Segment length 101.572836 meters
#   Minimum depth: 233.711002 meters looking forward 100.000000 meters along route
#   Maximum depth: 236.084589 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 183.711002 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790412;
longitude = -121.832235;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 186.029601;
finalDepth = 183.711002;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.358807
#   Actual altitude: 52.358807
#   Commanded vehicle depth:183.711002 
#   Seafloor depth:-236.069809
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 215
#   Segment length 101.572836 meters
#   Minimum depth: 236.029601 meters looking forward 100.000000 meters along route
#   Maximum depth: 240.166469 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 186.029601 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790500;
longitude = -121.832387;
captureRadius = 10;
duration = 101;
initialDepth = 190.275368;
finalDepth = 186.029601;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.358807
#   Actual altitude: 52.358807
#   Commanded vehicle depth:186.029601 
#   Seafloor depth:-236.029601
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 214
#   Segment length 101.572836 meters
#   Minimum depth: 240.275368 meters looking forward 100.000000 meters along route
#   Maximum depth: 250.298235 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 190.275368 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791047;
longitude = -121.833337;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 195.095210;
finalDepth = 190.275368;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:190.275368 
#   Seafloor depth:-240.275368
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 213
#   Segment length 101.572836 meters
#   Minimum depth: 245.095210 meters looking forward 100.000000 meters along route
#   Maximum depth: 252.061136 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 195.095210 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791608;
longitude = -121.834178;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 202.083117;
finalDepth = 195.095210;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.47413
#   Actual altitude: 54.47413
#   Commanded vehicle depth:195.09521 
#   Seafloor depth:-249.569340
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 213
#   Segment length 101.572836 meters
#   Minimum depth: 252.083117 meters looking forward 100.000000 meters along route
#   Maximum depth: 256.289811 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 202.083117 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791673;
longitude = -121.834516;
captureRadius = 10;
duration = 101;
initialDepth = 205.652041;
finalDepth = 202.083117;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.47413
#   Actual altitude: 54.47413
#   Commanded vehicle depth:202.083117 
#   Seafloor depth:-252.083117
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 212
#   Segment length 101.572836 meters
#   Minimum depth: 255.652041 meters looking forward 100.000000 meters along route
#   Maximum depth: 258.876978 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 205.652041 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791888;
longitude = -121.835635;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 209.373848;
finalDepth = 205.652041;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.648405
#   Actual altitude: 50.648405
#   Commanded vehicle depth:205.652041 
#   Seafloor depth:-256.300446
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 212
#   Segment length 101.572836 meters
#   Minimum depth: 259.373848 meters looking forward 100.000000 meters along route
#   Maximum depth: 263.848236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 209.373848 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791946;
longitude = -121.836364;
captureRadius = 10;
duration = 101;
initialDepth = 210.325665;
finalDepth = 209.373848;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.648405
#   Actual altitude: 50.648405
#   Commanded vehicle depth:209.373848 
#   Seafloor depth:-259.373848
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 211
#   Segment length 101.572836 meters
#   Minimum depth: 260.325665 meters looking forward 100.000000 meters along route
#   Maximum depth: 263.848236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 210.325665 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792037;
longitude = -121.837503;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 213.186213;
finalDepth = 210.325665;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.223964
#   Actual altitude: 53.223964
#   Commanded vehicle depth:210.325665 
#   Seafloor depth:-263.549629
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 211
#   Segment length 101.572836 meters
#   Minimum depth: 263.329243 meters looking forward 100.000000 meters along route
#   Maximum depth: 264.823553 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 213.186213 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792057;
longitude = -121.837607;
captureRadius = 10;
duration = 101;
initialDepth = 214.384671;
finalDepth = 213.186213;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.223964
#   Actual altitude: 53.223964
#   Commanded vehicle depth:213.1862127 
#   Seafloor depth:-263.329243
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 211
#   Segment length 101.572836 meters
#   Minimum depth: 264.384671 meters looking forward 100.000000 meters along route
#   Maximum depth: 269.586572 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 214.384671 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792268;
longitude = -121.838717;
captureRadius = 10;
duration = 101;
initialDepth = 214.677174;
finalDepth = 214.384671;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.1430303000003
#   Actual altitude: 50.1430303000003
#   Commanded vehicle depth:214.384671 
#   Seafloor depth:-264.384671
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.03;
MB_Bottom_Detect_Filter_Max_Range = 200.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 210
#   Segment length 101.572836 meters
#   Minimum depth: 264.677174 meters looking forward 100.000000 meters along route
#   Maximum depth: 269.850266 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 214.677174 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792485;
longitude = -121.839857;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 215.697473;
finalDepth = 214.677174;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.173092
#   Actual altitude: 55.173092
#   Commanded vehicle depth:214.677174 
#   Seafloor depth:-269.850266
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.03;
MB_Bottom_Detect_Filter_Max_Range = 220.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 210
#   Segment length 101.572836 meters
#   Minimum depth: 269.871065 meters looking forward 100.000000 meters along route
#   Maximum depth: 273.907143 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 215.697473 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792494;
longitude = -121.839893;
captureRadius = 10;
duration = 101;
initialDepth = 223.943911;
finalDepth = 215.697473;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.173092
#   Actual altitude: 55.173092
#   Commanded vehicle depth:215.697473099999 
#   Seafloor depth:-270.115887
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.03;
MB_Bottom_Detect_Filter_Max_Range = 220.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 210
#   Segment length 101.572836 meters
#   Minimum depth: 273.943911 meters looking forward 100.000000 meters along route
#   Maximum depth: 279.208543 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 223.943911 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792779;
longitude = -121.841014;
captureRadius = 10;
duration = 101;
initialDepth = 225.093897;
finalDepth = 223.943911;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.4184139000009
#   Actual altitude: 54.4184139000009
#   Commanded vehicle depth:223.943911 
#   Seafloor depth:-273.943911
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.88;
MB_Bottom_Detect_Filter_Max_Range = 217.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 209
#   Segment length 101.572836 meters
#   Minimum depth: 275.093897 meters looking forward 100.000000 meters along route
#   Maximum depth: 279.434099 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 225.093897 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793064;
longitude = -121.842136;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 229.209034;
finalDepth = 225.093897;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.1525549999999
#   Actual altitude: 54.1525549999999
#   Commanded vehicle depth:225.093897 
#   Seafloor depth:-279.246452
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.83;
MB_Bottom_Detect_Filter_Max_Range = 216.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 209
#   Segment length 101.572836 meters
#   Minimum depth: 279.209034 meters looking forward 100.000000 meters along route
#   Maximum depth: 283.007486 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 229.209034 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793111;
longitude = -121.842302;
captureRadius = 10;
duration = 101;
initialDepth = 232.638896;
finalDepth = 229.209034;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.1525549999999
#   Actual altitude: 54.1525549999999
#   Commanded vehicle depth:229.209034 
#   Seafloor depth:-279.241494
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.83;
MB_Bottom_Detect_Filter_Max_Range = 216.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 209
#   Segment length 101.572836 meters
#   Minimum depth: 282.638896 meters looking forward 100.000000 meters along route
#   Maximum depth: 287.226853 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 232.638896 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793411;
longitude = -121.843366;
captureRadius = 10;
duration = 101;
initialDepth = 236.154180;
finalDepth = 232.638896;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.03246
#   Actual altitude: 50.03246
#   Commanded vehicle depth:232.638896 
#   Seafloor depth:-282.638896
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.01;
MB_Bottom_Detect_Filter_Max_Range = 200.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 208
#   Segment length 101.572836 meters
#   Minimum depth: 286.154180 meters looking forward 100.000000 meters along route
#   Maximum depth: 289.462105 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 236.154180 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793718;
longitude = -121.844452;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 239.344889;
finalDepth = 236.154180;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.173914
#   Actual altitude: 51.173914
#   Commanded vehicle depth:236.15418 
#   Seafloor depth:-287.328094
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.23;
MB_Bottom_Detect_Filter_Max_Range = 204.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 208
#   Segment length 101.572836 meters
#   Minimum depth: 289.344889 meters looking forward 100.000000 meters along route
#   Maximum depth: 293.079203 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 239.344889 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794052;
longitude = -121.845271;
captureRadius = 10;
duration = 101;
initialDepth = 242.466903;
finalDepth = 239.344889;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.173914
#   Actual altitude: 51.173914
#   Commanded vehicle depth:239.344889 
#   Seafloor depth:-289.456063
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.23;
MB_Bottom_Detect_Filter_Max_Range = 204.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 207
#   Segment length 101.572836 meters
#   Minimum depth: 292.466903 meters looking forward 100.000000 meters along route
#   Maximum depth: 295.473372 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 242.466903 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794465;
longitude = -121.846283;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 245.798728;
finalDepth = 242.466903;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.747201
#   Actual altitude: 50.747201
#   Commanded vehicle depth:242.466903 
#   Seafloor depth:-293.214104
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.15;
MB_Bottom_Detect_Filter_Max_Range = 202.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 207
#   Segment length 101.572836 meters
#   Minimum depth: 295.798728 meters looking forward 100.000000 meters along route
#   Maximum depth: 299.984736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 245.798728 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794760;
longitude = -121.847096;
captureRadius = 10;
duration = 101;
initialDepth = 248.329389;
finalDepth = 245.798728;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.747201
#   Actual altitude: 50.747201
#   Commanded vehicle depth:245.798728 
#   Seafloor depth:-295.798728
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.15;
MB_Bottom_Detect_Filter_Max_Range = 202.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 206
#   Segment length 101.572836 meters
#   Minimum depth: 298.329389 meters looking forward 100.000000 meters along route
#   Maximum depth: 302.660537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 248.329389 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795137;
longitude = -121.848132;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 252.669902;
finalDepth = 248.329389;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.875033
#   Actual altitude: 51.875033
#   Commanded vehicle depth:248.329389 
#   Seafloor depth:-300.204422
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 206
#   Segment length 101.572836 meters
#   Minimum depth: 302.669902 meters looking forward 100.000000 meters along route
#   Maximum depth: 306.454671 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 252.669902 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795301;
longitude = -121.848643;
captureRadius = 10;
duration = 101;
initialDepth = 254.010254;
finalDepth = 252.669902;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.875033
#   Actual altitude: 51.875033
#   Commanded vehicle depth:252.669902 
#   Seafloor depth:-302.669902
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 205
#   Segment length 101.572836 meters
#   Minimum depth: 304.010254 meters looking forward 100.000000 meters along route
#   Maximum depth: 307.841422 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 254.010254 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795641;
longitude = -121.849701;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 257.026503;
finalDepth = 254.010254;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.696121
#   Actual altitude: 52.696121
#   Commanded vehicle depth:254.010254 
#   Seafloor depth:-306.706375
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 205
#   Segment length 101.572836 meters
#   Minimum depth: 307.026503 meters looking forward 100.000000 meters along route
#   Maximum depth: 308.327980 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 257.026503 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795872;
longitude = -121.850145;
captureRadius = 10;
duration = 101;
initialDepth = 256.357305;
finalDepth = 257.026503;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.696121
#   Actual altitude: 52.696121
#   Commanded vehicle depth:257.026503 
#   Seafloor depth:-307.883894
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 204
#   Segment length 101.572836 meters
#   Minimum depth: 306.357305 meters looking forward 100.000000 meters along route
#   Maximum depth: 308.593140 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 256.357305 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796369;
longitude = -121.851102;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 254.736016;
finalDepth = 256.357305;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.235835
#   Actual altitude: 52.235835
#   Commanded vehicle depth:256.357305 
#   Seafloor depth:-308.593140
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.94;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 208.94;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 204
#   Segment length 101.572836 meters
#   Minimum depth: 304.736016 meters looking forward 100.000000 meters along route
#   Maximum depth: 308.080597 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 254.736016 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796878;
longitude = -121.851684;
captureRadius = 10;
duration = 101;
initialDepth = 253.946037;
finalDepth = 254.736016;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.235835
#   Actual altitude: 52.235835
#   Commanded vehicle depth:254.736016 
#   Seafloor depth:-306.355788
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.94;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 208.94;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 203
#   Segment length 101.572836 meters
#   Minimum depth: 303.946037 meters looking forward 100.000000 meters along route
#   Maximum depth: 308.700855 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 253.946037 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797546;
longitude = -121.852447;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 258.895454;
finalDepth = 253.946037;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.619772
#   Actual altitude: 51.619772
#   Commanded vehicle depth:253.946037 
#   Seafloor depth:-304.982193
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.32;
MB_Bottom_Detect_Filter_Max_Range = 206.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 203
#   Segment length 101.572836 meters
#   Minimum depth: 308.895454 meters looking forward 100.000000 meters along route
#   Maximum depth: 314.793136 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 258.895454 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797928;
longitude = -121.852890;
captureRadius = 10;
duration = 101;
initialDepth = 262.245382;
finalDepth = 258.895454;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.036156
#   Actual altitude: 51.036156
#   Commanded vehicle depth:258.895454 
#   Seafloor depth:-308.895454
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.14;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.14;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 202
#   Segment length 101.572836 meters
#   Minimum depth: 312.245382 meters looking forward 100.000000 meters along route
#   Maximum depth: 320.482859 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 262.245382 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798610;
longitude = -121.853680;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 270.566101;
finalDepth = 262.245382;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.028559
#   Actual altitude: 53.028559
#   Commanded vehicle depth:262.245382 
#   Seafloor depth:-315.273941
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.61;
MB_Bottom_Detect_Filter_Max_Range = 212.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 202
#   Segment length 101.572836 meters
#   Minimum depth: 320.566101 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.981443 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 270.566101 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799059;
longitude = -121.854122;
captureRadius = 10;
duration = 101;
initialDepth = 276.873901;
finalDepth = 270.566101;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.028559
#   Actual altitude: 53.028559
#   Commanded vehicle depth:270.566101 
#   Seafloor depth:-320.566101
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.61;
MB_Bottom_Detect_Filter_Max_Range = 212.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 201
#   Segment length 101.572836 meters
#   Minimum depth: 326.873901 meters looking forward 100.000000 meters along route
#   Maximum depth: 331.996682 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 276.873901 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799768;
longitude = -121.854819;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 282.053273;
finalDepth = 276.873901;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.268906
#   Actual altitude: 51.268906
#   Commanded vehicle depth:276.873901 
#   Seafloor depth:-328.142807
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.25;
MB_Bottom_Detect_Filter_Max_Range = 205.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 201
#   Segment length 101.572836 meters
#   Minimum depth: 332.053273 meters looking forward 100.000000 meters along route
#   Maximum depth: 334.041963 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 282.053273 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800393;
longitude = -121.855320;
captureRadius = 10;
duration = 101;
initialDepth = 283.481260;
finalDepth = 282.053273;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.268906
#   Actual altitude: 51.268906
#   Commanded vehicle depth:282.053273 
#   Seafloor depth:-332.053273
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.25;
MB_Bottom_Detect_Filter_Max_Range = 205.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 200
#   Segment length 101.572836 meters
#   Minimum depth: 333.481260 meters looking forward 100.000000 meters along route
#   Maximum depth: 336.322459 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 283.481260 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801168;
longitude = -121.855940;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 286.265172;
finalDepth = 283.481260;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.698077
#   Actual altitude: 50.698077
#   Commanded vehicle depth:283.48126 
#   Seafloor depth:-334.179337
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.14;
MB_Bottom_Detect_Filter_Max_Range = 202.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 200
#   Segment length 101.572836 meters
#   Minimum depth: 336.265172 meters looking forward 100.000000 meters along route
#   Maximum depth: 338.962980 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 286.265172 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801655;
longitude = -121.856310;
captureRadius = 10;
duration = 101;
initialDepth = 287.746513;
finalDepth = 286.265172;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.698077
#   Actual altitude: 50.698077
#   Commanded vehicle depth:286.265172 
#   Seafloor depth:-336.265172
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.14;
MB_Bottom_Detect_Filter_Max_Range = 202.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 199
#   Segment length 101.572836 meters
#   Minimum depth: 337.746513 meters looking forward 100.000000 meters along route
#   Maximum depth: 340.177758 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 287.746513 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802436;
longitude = -121.856904;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 289.701860;
finalDepth = 287.746513;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:287.746513 
#   Seafloor depth:-337.746513
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 199
#   Segment length 101.572836 meters
#   Minimum depth: 339.701860 meters looking forward 100.000000 meters along route
#   Maximum depth: 345.137976 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 289.701860 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802736;
longitude = -121.857725;
captureRadius = 10;
duration = 101;
initialDepth = 293.761645;
finalDepth = 289.701860;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.60139
#   Actual altitude: 50.60139
#   Commanded vehicle depth:289.70186 
#   Seafloor depth:-340.303250
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 198
#   Segment length 101.572836 meters
#   Minimum depth: 343.761645 meters looking forward 100.000000 meters along route
#   Maximum depth: 348.669271 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 293.761645 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803112;
longitude = -121.858753;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 298.458385;
finalDepth = 293.761645;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.342931
#   Actual altitude: 51.342931
#   Commanded vehicle depth:293.761645 
#   Seafloor depth:-345.104576
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.27;
MB_Bottom_Detect_Filter_Max_Range = 205.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 198
#   Segment length 101.572836 meters
#   Minimum depth: 348.458385 meters looking forward 100.000000 meters along route
#   Maximum depth: 351.028456 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 298.458385 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803013;
longitude = -121.859668;
captureRadius = 10;
duration = 101;
initialDepth = 299.122768;
finalDepth = 298.458385;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.342931
#   Actual altitude: 51.342931
#   Commanded vehicle depth:298.458385 
#   Seafloor depth:-348.458385
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.27;
MB_Bottom_Detect_Filter_Max_Range = 205.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 197
#   Segment length 101.572836 meters
#   Minimum depth: 349.122768 meters looking forward 100.000000 meters along route
#   Maximum depth: 352.409326 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 299.122768 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802887;
longitude = -121.860826;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 302.608816;
finalDepth = 299.122768;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.880169
#   Actual altitude: 50.880169
#   Commanded vehicle depth:299.122768 
#   Seafloor depth:-350.002937
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 197
#   Segment length 101.572836 meters
#   Minimum depth: 352.608816 meters looking forward 100.000000 meters along route
#   Maximum depth: 355.272981 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 302.608816 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802691;
longitude = -121.860970;
captureRadius = 10;
duration = 101;
initialDepth = 303.895681;
finalDepth = 302.608816;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.880169
#   Actual altitude: 50.880169
#   Commanded vehicle depth:302.608816 
#   Seafloor depth:-352.608816
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 196
#   Segment length 101.572836 meters
#   Minimum depth: 353.895681 meters looking forward 100.000000 meters along route
#   Maximum depth: 356.024308 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 303.895681 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801895;
longitude = -121.861554;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 305.535181;
finalDepth = 303.895681;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.207156
#   Actual altitude: 50.207156
#   Commanded vehicle depth:303.895681 
#   Seafloor depth:-354.102837
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.83;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 200.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 196
#   Segment length 101.572836 meters
#   Minimum depth: 355.535181 meters looking forward 100.000000 meters along route
#   Maximum depth: 358.904266 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 305.535181 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801249;
longitude = -121.861754;
captureRadius = 10;
duration = 101;
initialDepth = 307.280451;
finalDepth = 305.535181;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.269465
#   Actual altitude: 50.269465
#   Commanded vehicle depth:305.535181 
#   Seafloor depth:-355.804646
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.05;
MB_Bottom_Detect_Filter_Max_Range = 201.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 195
#   Segment length 101.572836 meters
#   Minimum depth: 357.280451 meters looking forward 100.000000 meters along route
#   Maximum depth: 358.964142 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 307.280451 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800333;
longitude = -121.862039;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 299.873128;
finalDepth = 307.280451;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.683691
#   Actual altitude: 51.683691
#   Commanded vehicle depth:307.280451 
#   Seafloor depth:-358.964142
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.34;
MB_Bottom_Detect_Filter_Max_Range = 206.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 195
#   Segment length 101.572836 meters
#   Minimum depth: 349.873128 meters looking forward 100.000000 meters along route
#   Maximum depth: 357.466236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 299.873128 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799911;
longitude = -121.862637;
captureRadius = 10;
duration = 101;
initialDepth = 283.700520;
finalDepth = 299.873128;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.185364
#   Actual altitude: 57.185364
#   Commanded vehicle depth:299.873128 
#   Seafloor depth:-357.058492
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 228.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.44;
MB_Bottom_Detect_Filter_Max_Range = 228.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 228.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 195
#   Segment length 101.572836 meters
#   Minimum depth: 333.700520 meters looking forward 100.000000 meters along route
#   Maximum depth: 349.542354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 283.700520 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799312;
longitude = -121.863485;
captureRadius = 10;
duration = 101;
initialDepth = 281.223765;
finalDepth = 283.700520;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.841834
#   Actual altitude: 65.841834
#   Commanded vehicle depth:283.70052 
#   Seafloor depth:-349.542354
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 263.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.17;
MB_Bottom_Detect_Filter_Max_Range = 263.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 263.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 194
#   Segment length 101.572836 meters
#   Minimum depth: 331.223765 meters looking forward 100.000000 meters along route
#   Maximum depth: 335.150771 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 281.223765 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798711;
longitude = -121.864336;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 282.198504;
finalDepth = 281.223765;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.841834
#   Actual altitude: 65.841834
#   Commanded vehicle depth:281.223765 
#   Seafloor depth:-333.043129
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 263.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.17;
MB_Bottom_Detect_Filter_Max_Range = 263.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 263.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 194
#   Segment length 101.572836 meters
#   Minimum depth: 332.198504 meters looking forward 100.000000 meters along route
#   Maximum depth: 337.441138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 282.198504 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798185;
longitude = -121.865022;
captureRadius = 10;
duration = 101;
initialDepth = 287.476850;
finalDepth = 282.198504;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.819364
#   Actual altitude: 51.819364
#   Commanded vehicle depth:282.198504 
#   Seafloor depth:-332.323851
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.36;
MB_Bottom_Detect_Filter_Max_Range = 207.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 194
#   Segment length 101.572836 meters
#   Minimum depth: 337.476850 meters looking forward 100.000000 meters along route
#   Maximum depth: 350.917673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 287.476850 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797554;
longitude = -121.865846;
captureRadius = 10;
duration = 101;
initialDepth = 296.563655;
finalDepth = 287.476850;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.125347
#   Actual altitude: 50.125347
#   Commanded vehicle depth:287.47685 
#   Seafloor depth:-337.476850
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.03;
MB_Bottom_Detect_Filter_Max_Range = 200.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 193
#   Segment length 101.572836 meters
#   Minimum depth: 346.563655 meters looking forward 100.000000 meters along route
#   Maximum depth: 368.983204 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 296.563655 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796908;
longitude = -121.866689;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 319.276719;
finalDepth = 296.563655;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.211873
#   Actual altitude: 55.211873
#   Commanded vehicle depth:296.563655 
#   Seafloor depth:-351.775528
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.04;
MB_Bottom_Detect_Filter_Max_Range = 220.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 193
#   Segment length 101.572836 meters
#   Minimum depth: 369.483134 meters looking forward 100.000000 meters along route
#   Maximum depth: 381.392372 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 319.276719 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796563;
longitude = -121.867421;
captureRadius = 10;
duration = 101;
initialDepth = 331.427485;
finalDepth = 319.276719;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.211873
#   Actual altitude: 55.211873
#   Commanded vehicle depth:319.2767192 
#   Seafloor depth:-369.483134
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.04;
MB_Bottom_Detect_Filter_Max_Range = 220.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 193
#   Segment length 101.572836 meters
#   Minimum depth: 381.427485 meters looking forward 100.000000 meters along route
#   Maximum depth: 387.366056 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 331.427485 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796098;
longitude = -121.868407;
captureRadius = 10;
duration = 101;
initialDepth = 336.938939;
finalDepth = 331.427485;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.2064148000004
#   Actual altitude: 50.2064148000004
#   Commanded vehicle depth:331.427485 
#   Seafloor depth:-381.427485
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.83;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 200.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 192
#   Segment length 101.572836 meters
#   Minimum depth: 386.938939 meters looking forward 100.000000 meters along route
#   Maximum depth: 391.359927 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 336.938939 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795632;
longitude = -121.869396;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 341.607018;
finalDepth = 336.938939;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.501109
#   Actual altitude: 50.501109
#   Commanded vehicle depth:336.938939 
#   Seafloor depth:-387.440048
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.10;
MB_Bottom_Detect_Filter_Max_Range = 202.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 192
#   Segment length 101.572836 meters
#   Minimum depth: 391.607018 meters looking forward 100.000000 meters along route
#   Maximum depth: 394.981930 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 341.607018 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795241;
longitude = -121.870367;
captureRadius = 10;
duration = 101;
initialDepth = 345.184421;
finalDepth = 341.607018;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.501109
#   Actual altitude: 50.501109
#   Commanded vehicle depth:341.607018 
#   Seafloor depth:-391.607018
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.10;
MB_Bottom_Detect_Filter_Max_Range = 202.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 192
#   Segment length 101.572836 meters
#   Minimum depth: 395.184421 meters looking forward 100.000000 meters along route
#   Maximum depth: 397.646577 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 345.184421 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794835;
longitude = -121.871376;
captureRadius = 10;
duration = 101;
initialDepth = 347.106460;
finalDepth = 345.184421;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:345.184421 
#   Seafloor depth:-395.184421
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 191
#   Segment length 101.572836 meters
#   Minimum depth: 397.106460 meters looking forward 100.000000 meters along route
#   Maximum depth: 398.959280 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 347.106460 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794415;
longitude = -121.872421;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 348.980212;
finalDepth = 347.106460;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.5581979999999
#   Actual altitude: 50.5581979999999
#   Commanded vehicle depth:347.10646 
#   Seafloor depth:-397.664658
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.11;
MB_Bottom_Detect_Filter_Max_Range = 202.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 191
#   Segment length 101.572836 meters
#   Minimum depth: 398.980212 meters looking forward 100.000000 meters along route
#   Maximum depth: 401.535307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 348.980212 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794220;
longitude = -121.873060;
captureRadius = 10;
duration = 101;
initialDepth = 351.602853;
finalDepth = 348.980212;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.5581979999999
#   Actual altitude: 50.5581979999999
#   Commanded vehicle depth:348.980212 
#   Seafloor depth:-398.980212
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.11;
MB_Bottom_Detect_Filter_Max_Range = 202.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 191
#   Segment length 101.572836 meters
#   Minimum depth: 401.602853 meters looking forward 100.000000 meters along route
#   Maximum depth: 403.931055 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 351.602853 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793896;
longitude = -121.874121;
captureRadius = 10;
duration = 101;
initialDepth = 352.869141;
finalDepth = 351.602853;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:351.602853 
#   Seafloor depth:-401.602853
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 190
#   Segment length 101.572836 meters
#   Minimum depth: 402.869141 meters looking forward 100.000000 meters along route
#   Maximum depth: 404.647717 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 352.869141 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793559;
longitude = -121.875222;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 354.649642;
finalDepth = 352.869141;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:352.869141 
#   Seafloor depth:-402.869141
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 190
#   Segment length 101.572836 meters
#   Minimum depth: 404.649642 meters looking forward 100.000000 meters along route
#   Maximum depth: 405.215547 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 354.649642 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793452;
longitude = -121.875801;
captureRadius = 10;
duration = 101;
initialDepth = 354.492576;
finalDepth = 354.649642;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.021654
#   Actual altitude: 50.021654
#   Commanded vehicle depth:354.649642 
#   Seafloor depth:-404.671296
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 190
#   Segment length 101.572836 meters
#   Minimum depth: 404.492576 meters looking forward 100.000000 meters along route
#   Maximum depth: 405.859893 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 354.492576 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793244;
longitude = -121.876922;
captureRadius = 10;
duration = 101;
initialDepth = 353.136513;
finalDepth = 354.492576;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.247057
#   Actual altitude: 50.247057
#   Commanded vehicle depth:354.492576 
#   Seafloor depth:-404.739633
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.05;
MB_Bottom_Detect_Filter_Max_Range = 200.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 189
#   Segment length 101.572836 meters
#   Minimum depth: 403.136513 meters looking forward 100.000000 meters along route
#   Maximum depth: 406.010651 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 353.136513 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793033;
longitude = -121.878061;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 350.246747;
finalDepth = 353.136513;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.874138
#   Actual altitude: 52.874138
#   Commanded vehicle depth:353.136513 
#   Seafloor depth:-406.010651
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 189
#   Segment length 101.572836 meters
#   Minimum depth: 400.246747 meters looking forward 100.000000 meters along route
#   Maximum depth: 407.575147 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 350.246747 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793228;
longitude = -121.878469;
captureRadius = 10;
duration = 101;
initialDepth = 357.816622;
finalDepth = 350.246747;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.874138
#   Actual altitude: 52.874138
#   Commanded vehicle depth:350.246747 
#   Seafloor depth:-402.451625
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 189
#   Segment length 101.572836 meters
#   Minimum depth: 407.816622 meters looking forward 100.000000 meters along route
#   Maximum depth: 416.957822 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 357.816622 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793695;
longitude = -121.879442;
captureRadius = 10;
duration = 101;
initialDepth = 363.643619;
finalDepth = 357.816622;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.204878
#   Actual altitude: 52.204878
#   Commanded vehicle depth:357.816622 
#   Seafloor depth:-407.816622
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.82;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.82;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.82;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 188
#   Segment length 101.572836 meters
#   Minimum depth: 413.643619 meters looking forward 100.000000 meters along route
#   Maximum depth: 420.628447 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 363.643619 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794160;
longitude = -121.880413;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 366.239427;
finalDepth = 363.643619;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.921383
#   Actual altitude: 53.921383
#   Commanded vehicle depth:363.643619 
#   Seafloor depth:-417.565002
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.78;
MB_Bottom_Detect_Filter_Max_Range = 215.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 188
#   Segment length 101.572836 meters
#   Minimum depth: 416.239427 meters looking forward 100.000000 meters along route
#   Maximum depth: 419.726672 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 366.239427 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794625;
longitude = -121.880904;
captureRadius = 10;
duration = 101;
initialDepth = 369.031042;
finalDepth = 366.239427;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.921383
#   Actual altitude: 53.921383
#   Commanded vehicle depth:366.239427 
#   Seafloor depth:-419.161569
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.78;
MB_Bottom_Detect_Filter_Max_Range = 215.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 188
#   Segment length 101.572836 meters
#   Minimum depth: 419.031042 meters looking forward 100.000000 meters along route
#   Maximum depth: 422.370141 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 369.031042 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795346;
longitude = -121.881664;
captureRadius = 10;
duration = 101;
initialDepth = 369.407728;
finalDepth = 369.031042;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.922142
#   Actual altitude: 52.922142
#   Commanded vehicle depth:369.031042 
#   Seafloor depth:-419.215323
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.58;
MB_Bottom_Detect_Filter_Max_Range = 211.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 187
#   Segment length 101.572836 meters
#   Minimum depth: 419.407728 meters looking forward 100.000000 meters along route
#   Maximum depth: 422.370141 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 369.407728 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796037;
longitude = -121.882393;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 371.697336;
finalDepth = 369.407728;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.3183
#   Actual altitude: 50.3183
#   Commanded vehicle depth:369.407728 
#   Seafloor depth:-419.726028
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 187
#   Segment length 101.572836 meters
#   Minimum depth: 421.697336 meters looking forward 100.000000 meters along route
#   Maximum depth: 424.374159 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 371.697336 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796085;
longitude = -121.882467;
captureRadius = 10;
duration = 101;
initialDepth = 373.682927;
finalDepth = 371.697336;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.3183
#   Actual altitude: 50.3183
#   Commanded vehicle depth:371.697336 
#   Seafloor depth:-421.697336
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 187
#   Segment length 101.572836 meters
#   Minimum depth: 423.682927 meters looking forward 100.000000 meters along route
#   Maximum depth: 429.070785 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 373.682927 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796653;
longitude = -121.883343;
captureRadius = 10;
duration = 101;
initialDepth = 378.505236;
finalDepth = 373.682927;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.448887
#   Actual altitude: 50.448887
#   Commanded vehicle depth:373.682927 
#   Seafloor depth:-424.131814
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.09;
MB_Bottom_Detect_Filter_Max_Range = 201.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 186
#   Segment length 101.572836 meters
#   Minimum depth: 428.505236 meters looking forward 100.000000 meters along route
#   Maximum depth: 431.683643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 378.505236 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797224;
longitude = -121.884223;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 381.362342;
finalDepth = 378.505236;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.961965
#   Actual altitude: 50.961965
#   Commanded vehicle depth:378.505236 
#   Seafloor depth:-429.467201
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.19;
MB_Bottom_Detect_Filter_Max_Range = 203.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 186
#   Segment length 101.572836 meters
#   Minimum depth: 431.362342 meters looking forward 100.000000 meters along route
#   Maximum depth: 432.094268 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 381.362342 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797288;
longitude = -121.885212;
captureRadius = 10;
duration = 101;
initialDepth = 382.212426;
finalDepth = 381.362342;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.961965
#   Actual altitude: 50.961965
#   Commanded vehicle depth:381.362342 
#   Seafloor depth:-431.688861
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.19;
MB_Bottom_Detect_Filter_Max_Range = 203.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 186
#   Segment length 101.572836 meters
#   Minimum depth: 432.212426 meters looking forward 100.000000 meters along route
#   Maximum depth: 436.675720 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 382.212426 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797360;
longitude = -121.886333;
captureRadius = 10;
duration = 101;
initialDepth = 385.870842;
finalDepth = 382.212426;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.326519
#   Actual altitude: 50.326519
#   Commanded vehicle depth:382.212426 
#   Seafloor depth:-432.212426
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.07;
MB_Bottom_Detect_Filter_Max_Range = 201.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 185
#   Segment length 101.572836 meters
#   Minimum depth: 435.870842 meters looking forward 100.000000 meters along route
#   Maximum depth: 438.272626 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 385.870842 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797434;
longitude = -121.887490;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 387.290603;
finalDepth = 385.870842;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.93071
#   Actual altitude: 50.93071
#   Commanded vehicle depth:385.870842 
#   Seafloor depth:-436.801552
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.19;
MB_Bottom_Detect_Filter_Max_Range = 203.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 185
#   Segment length 101.572836 meters
#   Minimum depth: 437.290603 meters looking forward 100.000000 meters along route
#   Maximum depth: 441.537795 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 387.290603 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797225;
longitude = -121.888181;
captureRadius = 10;
duration = 101;
initialDepth = 390.893951;
finalDepth = 387.290603;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.93071
#   Actual altitude: 50.93071
#   Commanded vehicle depth:387.290603 
#   Seafloor depth:-437.290603
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.19;
MB_Bottom_Detect_Filter_Max_Range = 203.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 184
#   Segment length 101.572836 meters
#   Minimum depth: 440.893951 meters looking forward 100.000000 meters along route
#   Maximum depth: 443.248406 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 390.893951 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796893;
longitude = -121.889283;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 393.176160;
finalDepth = 390.893951;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.595047
#   Actual altitude: 50.595047
#   Commanded vehicle depth:390.893951 
#   Seafloor depth:-441.488998
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 184
#   Segment length 101.572836 meters
#   Minimum depth: 443.176160 meters looking forward 100.000000 meters along route
#   Maximum depth: 443.602027 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.176160 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796685;
longitude = -121.889974;
captureRadius = 10;
duration = 101;
initialDepth = 388.920955;
finalDepth = 393.176160;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.595047
#   Actual altitude: 50.595047
#   Commanded vehicle depth:393.17616 
#   Seafloor depth:-443.439065
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 183
#   Segment length 101.572836 meters
#   Minimum depth: 438.920955 meters looking forward 100.000000 meters along route
#   Maximum depth: 443.566080 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 388.920955 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796353;
longitude = -121.891076;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 383.483506;
finalDepth = 388.920955;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.554928
#   Actual altitude: 54.554928
#   Commanded vehicle depth:388.920955 
#   Seafloor depth:-443.475883
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.91;
MB_Bottom_Detect_Filter_Max_Range = 218.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 183
#   Segment length 101.572836 meters
#   Minimum depth: 433.483506 meters looking forward 100.000000 meters along route
#   Maximum depth: 438.495386 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 383.483506 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796104;
longitude = -121.892047;
captureRadius = 10;
duration = 101;
initialDepth = 383.483506;
finalDepth = 383.483506;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.01188
#   Actual altitude: 55.01188
#   Commanded vehicle depth:383.483506 
#   Seafloor depth:-438.495386
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.00;
MB_Bottom_Detect_Filter_Max_Range = 220.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 182
#   Segment length 101.572836 meters
#   Minimum depth: 433.483506 meters looking forward 100.000000 meters along route
#   Maximum depth: 438.751885 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 383.483506 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795827;
longitude = -121.893130;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 389.504994;
finalDepth = 383.483506;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.01188
#   Actual altitude: 55.01188
#   Commanded vehicle depth:383.483506 
#   Seafloor depth:-435.903648
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.00;
MB_Bottom_Detect_Filter_Max_Range = 220.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 182
#   Segment length 101.572836 meters
#   Minimum depth: 439.504994 meters looking forward 100.000000 meters along route
#   Maximum depth: 447.223421 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.504994 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795801;
longitude = -121.893503;
captureRadius = 10;
duration = 101;
initialDepth = 397.139546;
finalDepth = 389.504994;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.420142
#   Actual altitude: 52.420142
#   Commanded vehicle depth:389.504994 
#   Seafloor depth:-439.504994
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 181
#   Segment length 101.572836 meters
#   Minimum depth: 447.139546 meters looking forward 100.000000 meters along route
#   Maximum depth: 450.310849 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.139546 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795722;
longitude = -121.894661;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 397.139546;
finalDepth = 397.139546;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.300685
#   Actual altitude: 50.300685
#   Commanded vehicle depth:397.139546 
#   Seafloor depth:-447.440231
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 180
#   Segment length 101.572836 meters
#   Minimum depth: 447.139546 meters looking forward 100.000000 meters along route
#   Maximum depth: 455.164737 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 397.139546 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796443;
longitude = -121.895333;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 405.113733;
finalDepth = 397.139546;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.06499
#   Actual altitude: 52.06499
#   Commanded vehicle depth:397.139546 
#   Seafloor depth:-449.204536
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 180
#   Segment length 101.572836 meters
#   Minimum depth: 455.113733 meters looking forward 100.000000 meters along route
#   Maximum depth: 460.441138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 405.113733 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796968;
longitude = -121.895101;
captureRadius = 10;
duration = 101;
initialDepth = 405.113733;
finalDepth = 405.113733;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.06499
#   Actual altitude: 52.06499
#   Commanded vehicle depth:405.113733 
#   Seafloor depth:-455.686747
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 179
#   Segment length 101.572836 meters
#   Minimum depth: 455.113733 meters looking forward 100.000000 meters along route
#   Maximum depth: 462.899009 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 405.113733 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797840;
longitude = -121.894717;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 409.298852;
finalDepth = 405.113733;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.686163
#   Actual altitude: 55.686163
#   Commanded vehicle depth:405.113733 
#   Seafloor depth:-460.799896
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.14;
MB_Bottom_Detect_Filter_Max_Range = 222.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 179
#   Segment length 101.572836 meters
#   Minimum depth: 464.240328 meters looking forward 100.000000 meters along route
#   Maximum depth: 475.649404 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 409.298852 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797960;
longitude = -121.894764;
captureRadius = 10;
duration = 101;
initialDepth = 415.706874;
finalDepth = 409.298852;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.686163
#   Actual altitude: 55.686163
#   Commanded vehicle depth:409.2988524 
#   Seafloor depth:-464.240328
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.14;
MB_Bottom_Detect_Filter_Max_Range = 222.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 178
#   Segment length 101.572836 meters
#   Minimum depth: 465.706874 meters looking forward 100.000000 meters along route
#   Maximum depth: 476.322714 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 415.706874 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798831;
longitude = -121.895109;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 418.341953;
finalDepth = 415.706874;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.865788
#   Actual altitude: 59.865788
#   Commanded vehicle depth:415.706874 
#   Seafloor depth:-475.572662
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 239.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.97;
MB_Bottom_Detect_Filter_Max_Range = 239.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 239.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 178
#   Segment length 101.572836 meters
#   Minimum depth: 476.347163 meters looking forward 100.000000 meters along route
#   Maximum depth: 481.110032 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 418.341953 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798861;
longitude = -121.895200;
captureRadius = 10;
duration = 101;
initialDepth = 431.071855;
finalDepth = 418.341953;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.865788
#   Actual altitude: 59.865788
#   Commanded vehicle depth:418.341953099998 
#   Seafloor depth:-476.347163
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 239.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.97;
MB_Bottom_Detect_Filter_Max_Range = 239.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 239.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 178
#   Segment length 101.572836 meters
#   Minimum depth: 481.071855 meters looking forward 100.000000 meters along route
#   Maximum depth: 483.192461 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 431.071855 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799207;
longitude = -121.896248;
captureRadius = 10;
duration = 101;
initialDepth = 432.213272;
finalDepth = 431.071855;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.0052099000017
#   Actual altitude: 58.0052099000017
#   Commanded vehicle depth:431.071855 
#   Seafloor depth:-481.209332
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 232.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.60;
MB_Bottom_Detect_Filter_Max_Range = 232.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 232.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 177
#   Segment length 101.572836 meters
#   Minimum depth: 482.213272 meters looking forward 100.000000 meters along route
#   Maximum depth: 484.548152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.213272 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799552;
longitude = -121.897294;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 434.309968;
finalDepth = 432.213272;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.132767
#   Actual altitude: 51.132767
#   Commanded vehicle depth:432.213272 
#   Seafloor depth:-483.346039
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.23;
MB_Bottom_Detect_Filter_Max_Range = 204.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 177
#   Segment length 101.572836 meters
#   Minimum depth: 484.309968 meters looking forward 100.000000 meters along route
#   Maximum depth: 487.611673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 434.309968 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799490;
longitude = -121.897985;
captureRadius = 10;
duration = 101;
initialDepth = 435.458905;
finalDepth = 434.309968;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.132767
#   Actual altitude: 51.132767
#   Commanded vehicle depth:434.309968 
#   Seafloor depth:-484.309968
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.23;
MB_Bottom_Detect_Filter_Max_Range = 204.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 176
#   Segment length 101.572836 meters
#   Minimum depth: 485.458905 meters looking forward 100.000000 meters along route
#   Maximum depth: 488.288146 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.458905 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799387;
longitude = -121.899124;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 438.112219;
finalDepth = 435.458905;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.227458
#   Actual altitude: 52.227458
#   Commanded vehicle depth:435.458905 
#   Seafloor depth:-487.686363
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 208.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 176
#   Segment length 101.572836 meters
#   Minimum depth: 488.112219 meters looking forward 100.000000 meters along route
#   Maximum depth: 489.853346 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 438.112219 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799258;
longitude = -121.899441;
captureRadius = 10;
duration = 101;
initialDepth = 439.467360;
finalDepth = 438.112219;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.227458
#   Actual altitude: 52.227458
#   Commanded vehicle depth:438.112219 
#   Seafloor depth:-488.190766
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 208.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 176
#   Segment length 101.572836 meters
#   Minimum depth: 489.467360 meters looking forward 100.000000 meters along route
#   Maximum depth: 490.228725 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 439.467360 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798849;
longitude = -121.900449;
captureRadius = 10;
duration = 101;
initialDepth = 439.377735;
finalDepth = 439.467360;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.417254
#   Actual altitude: 50.417254
#   Commanded vehicle depth:439.46736 
#   Seafloor depth:-489.884614
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.08;
MB_Bottom_Detect_Filter_Max_Range = 201.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 175
#   Segment length 101.572836 meters
#   Minimum depth: 489.377735 meters looking forward 100.000000 meters along route
#   Maximum depth: 490.500949 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 439.377735 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798425;
longitude = -121.901495;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 436.668700;
finalDepth = 439.377735;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.57861
#   Actual altitude: 50.57861
#   Commanded vehicle depth:439.377735 
#   Seafloor depth:-489.956345
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 175
#   Segment length 101.572836 meters
#   Minimum depth: 486.668700 meters looking forward 100.000000 meters along route
#   Maximum depth: 490.987649 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 436.668700 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798159;
longitude = -121.902410;
captureRadius = 10;
duration = 101;
initialDepth = 432.145030;
finalDepth = 436.668700;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.10856
#   Actual altitude: 54.10856
#   Commanded vehicle depth:436.6687 
#   Seafloor depth:-490.777260
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 175
#   Segment length 101.572836 meters
#   Minimum depth: 482.145030 meters looking forward 100.000000 meters along route
#   Maximum depth: 487.108279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 432.145030 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797849;
longitude = -121.903474;
captureRadius = 10;
duration = 101;
initialDepth = 429.239978;
finalDepth = 432.145030;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.391446
#   Actual altitude: 54.391446
#   Commanded vehicle depth:432.14503 
#   Seafloor depth:-486.536476
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.88;
MB_Bottom_Detect_Filter_Max_Range = 217.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 175
#   Segment length 101.572836 meters
#   Minimum depth: 479.239978 meters looking forward 100.000000 meters along route
#   Maximum depth: 482.580054 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 429.239978 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797539;
longitude = -121.904539;
captureRadius = 10;
duration = 101;
initialDepth = 430.934818;
finalDepth = 429.239978;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.391446
#   Actual altitude: 54.391446
#   Commanded vehicle depth:429.239978 
#   Seafloor depth:-481.809651
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.88;
MB_Bottom_Detect_Filter_Max_Range = 217.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 174
#   Segment length 101.572836 meters
#   Minimum depth: 480.934818 meters looking forward 100.000000 meters along route
#   Maximum depth: 504.085080 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 430.934818 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797224;
longitude = -121.905622;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 452.516011;
finalDepth = 430.934818;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.569673
#   Actual altitude: 52.569673
#   Commanded vehicle depth:430.934818 
#   Seafloor depth:-482.679550
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 174
#   Segment length 101.572836 meters
#   Minimum depth: 504.134603 meters looking forward 100.000000 meters along route
#   Maximum depth: 506.340747 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 452.516011 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796653;
longitude = -121.906004;
captureRadius = 10;
duration = 101;
initialDepth = 455.656260;
finalDepth = 452.516011;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.744732
#   Actual altitude: 51.744732
#   Commanded vehicle depth:452.5160113 
#   Seafloor depth:-504.134603
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.98;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 206.98;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 173
#   Segment length 101.572836 meters
#   Minimum depth: 505.656260 meters looking forward 100.000000 meters along route
#   Maximum depth: 509.593555 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 455.656260 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795857;
longitude = -121.906537;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 457.630552;
finalDepth = 455.656260;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.6185916999996
#   Actual altitude: 51.6185916999996
#   Commanded vehicle depth:455.65626 
#   Seafloor depth:-506.458321
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.32;
MB_Bottom_Detect_Filter_Max_Range = 206.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 173
#   Segment length 101.572836 meters
#   Minimum depth: 507.630552 meters looking forward 100.000000 meters along route
#   Maximum depth: 509.473518 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 457.630552 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795166;
longitude = -121.906292;
captureRadius = 10;
duration = 101;
initialDepth = 458.233486;
finalDepth = 457.630552;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.842966
#   Actual altitude: 51.842966
#   Commanded vehicle depth:457.630552 
#   Seafloor depth:-509.473518
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 172
#   Segment length 101.572836 meters
#   Minimum depth: 508.233486 meters looking forward 100.000000 meters along route
#   Maximum depth: 511.255896 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 458.233486 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794280;
longitude = -121.905977;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 461.336185;
finalDepth = 458.233486;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.842966
#   Actual altitude: 51.842966
#   Commanded vehicle depth:458.233486 
#   Seafloor depth:-508.549950
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 172
#   Segment length 101.572836 meters
#   Minimum depth: 511.336185 meters looking forward 100.000000 meters along route
#   Maximum depth: 515.661446 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 461.336185 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793679;
longitude = -121.905633;
captureRadius = 10;
duration = 101;
initialDepth = 465.976462;
finalDepth = 461.336185;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.316464
#   Actual altitude: 50.316464
#   Commanded vehicle depth:461.336185 
#   Seafloor depth:-511.336185
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 172
#   Segment length 101.572836 meters
#   Minimum depth: 515.976462 meters looking forward 100.000000 meters along route
#   Maximum depth: 518.520264 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 465.976462 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792823;
longitude = -121.905143;
captureRadius = 10;
duration = 101;
initialDepth = 467.071289;
finalDepth = 465.976462;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:465.976462 
#   Seafloor depth:-515.976462
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 171
#   Segment length 101.572836 meters
#   Minimum depth: 517.071289 meters looking forward 100.000000 meters along route
#   Maximum depth: 518.786997 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 467.071289 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791997;
longitude = -121.904670;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 469.013099;
finalDepth = 467.071289;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.478348
#   Actual altitude: 51.478348
#   Commanded vehicle depth:467.071289 
#   Seafloor depth:-518.549637
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 205.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 171
#   Segment length 101.572836 meters
#   Minimum depth: 519.013099 meters looking forward 100.000000 meters along route
#   Maximum depth: 520.991915 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 469.013099 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791831;
longitude = -121.904639;
captureRadius = 10;
duration = 101;
initialDepth = 466.808648;
finalDepth = 469.013099;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.478348
#   Actual altitude: 51.478348
#   Commanded vehicle depth:469.013099 
#   Seafloor depth:-519.013099
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 205.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 171
#   Segment length 101.572836 meters
#   Minimum depth: 516.808648 meters looking forward 100.000000 meters along route
#   Maximum depth: 520.923509 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.808648 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790930;
longitude = -121.904470;
captureRadius = 10;
duration = 101;
initialDepth = 464.310570;
finalDepth = 466.808648;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.114861
#   Actual altitude: 54.114861
#   Commanded vehicle depth:466.808648 
#   Seafloor depth:-520.923509
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 170
#   Segment length 101.572836 meters
#   Minimum depth: 514.310570 meters looking forward 100.000000 meters along route
#   Maximum depth: 517.889215 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.310570 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789999;
longitude = -121.904296;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 464.406015;
finalDepth = 464.310570;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.114861
#   Actual altitude: 54.114861
#   Commanded vehicle depth:464.31057 
#   Seafloor depth:-517.012573
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 170
#   Segment length 101.572836 meters
#   Minimum depth: 514.406015 meters looking forward 100.000000 meters along route
#   Maximum depth: 516.458811 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 464.406015 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789488;
longitude = -121.904283;
captureRadius = 10;
duration = 101;
initialDepth = 466.523031;
finalDepth = 464.406015;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.702003
#   Actual altitude: 52.702003
#   Commanded vehicle depth:464.406015 
#   Seafloor depth:-514.406015
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 170
#   Segment length 101.572836 meters
#   Minimum depth: 516.523031 meters looking forward 100.000000 meters along route
#   Maximum depth: 520.487721 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 466.523031 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788587;
longitude = -121.904259;
captureRadius = 10;
duration = 101;
initialDepth = 471.143222;
finalDepth = 466.523031;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:466.523031 
#   Seafloor depth:-516.523031
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 170
#   Segment length 101.572836 meters
#   Minimum depth: 521.143222 meters looking forward 100.000000 meters along route
#   Maximum depth: 524.847442 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.143222 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787686;
longitude = -121.904236;
captureRadius = 10;
duration = 101;
initialDepth = 469.921759;
finalDepth = 471.143222;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:471.143222 
#   Seafloor depth:-521.143222
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 170
#   Segment length 101.572836 meters
#   Minimum depth: 519.921759 meters looking forward 100.000000 meters along route
#   Maximum depth: 524.980361 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 469.921759 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786785;
longitude = -121.904212;
captureRadius = 10;
duration = 101;
initialDepth = 471.161138;
finalDepth = 469.921759;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.0586020000001
#   Actual altitude: 55.0586020000001
#   Commanded vehicle depth:469.921759 
#   Seafloor depth:-524.980361
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.01;
MB_Bottom_Detect_Filter_Max_Range = 220.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 170
#   Segment length 101.572836 meters
#   Minimum depth: 521.161138 meters looking forward 100.000000 meters along route
#   Maximum depth: 532.432401 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.161138 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785883;
longitude = -121.904189;
captureRadius = 10;
duration = 101;
initialDepth = 471.373043;
finalDepth = 471.161138;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.0586020000001
#   Actual altitude: 55.0586020000001
#   Commanded vehicle depth:471.161138 
#   Seafloor depth:-521.161138
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.01;
MB_Bottom_Detect_Filter_Max_Range = 220.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 169
#   Segment length 101.572836 meters
#   Minimum depth: 521.373043 meters looking forward 100.000000 meters along route
#   Maximum depth: 533.372434 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 471.373043 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784967;
longitude = -121.904165;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 475.588466;
finalDepth = 471.373043;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.2772259999999
#   Actual altitude: 61.2772259999999
#   Commanded vehicle depth:471.373043 
#   Seafloor depth:-532.650269
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 245.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.26;
MB_Bottom_Detect_Filter_Max_Range = 245.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 245.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 169
#   Segment length 101.572836 meters
#   Minimum depth: 532.965083 meters looking forward 100.000000 meters along route
#   Maximum depth: 533.652448 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 475.588466 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784847;
longitude = -121.904215;
captureRadius = 10;
duration = 101;
initialDepth = 483.151221;
finalDepth = 475.588466;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.2772259999999
#   Actual altitude: 61.2772259999999
#   Commanded vehicle depth:475.588466 
#   Seafloor depth:-533.447794
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 245.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.26;
MB_Bottom_Detect_Filter_Max_Range = 245.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 245.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 169
#   Segment length 101.572836 meters
#   Minimum depth: 533.151221 meters looking forward 100.000000 meters along route
#   Maximum depth: 534.296118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.151221 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783991;
longitude = -121.904574;
captureRadius = 10;
duration = 101;
initialDepth = 483.863589;
finalDepth = 483.151221;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.859328
#   Actual altitude: 57.859328
#   Commanded vehicle depth:483.151221 
#   Seafloor depth:-533.151221
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.57;
MB_Bottom_Detect_Filter_Max_Range = 231.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 169
#   Segment length 101.572836 meters
#   Minimum depth: 533.863589 meters looking forward 100.000000 meters along route
#   Maximum depth: 541.474738 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.863589 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783135;
longitude = -121.904933;
captureRadius = 10;
duration = 101;
initialDepth = 484.266805;
finalDepth = 483.863589;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:483.863589 
#   Seafloor depth:-533.863589
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 168
#   Segment length 101.572836 meters
#   Minimum depth: 534.266805 meters looking forward 100.000000 meters along route
#   Maximum depth: 541.760233 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 484.266805 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782248;
longitude = -121.905304;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 486.366617;
finalDepth = 484.266805;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.3547160000001
#   Actual altitude: 57.3547160000001
#   Commanded vehicle depth:484.266805 
#   Seafloor depth:-541.621521
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.47;
MB_Bottom_Detect_Filter_Max_Range = 229.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 168
#   Segment length 101.572836 meters
#   Minimum depth: 541.833040 meters looking forward 100.000000 meters along route
#   Maximum depth: 545.684474 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 486.366617 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782188;
longitude = -121.905330;
captureRadius = 10;
duration = 101;
initialDepth = 495.804789;
finalDepth = 486.366617;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.3547160000001
#   Actual altitude: 57.3547160000001
#   Commanded vehicle depth:486.3666172 
#   Seafloor depth:-541.833040
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.47;
MB_Bottom_Detect_Filter_Max_Range = 229.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 168
#   Segment length 101.572836 meters
#   Minimum depth: 545.804789 meters looking forward 100.000000 meters along route
#   Maximum depth: 547.220225 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 495.804789 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781332;
longitude = -121.905697;
captureRadius = 10;
duration = 101;
initialDepth = 495.945740;
finalDepth = 495.804789;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.4664228000003
#   Actual altitude: 55.4664228000003
#   Commanded vehicle depth:495.804789 
#   Seafloor depth:-545.804789
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.87;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.09;
MB_Bottom_Detect_Filter_Max_Range = 221.87;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.87;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 167
#   Segment length 101.572836 meters
#   Minimum depth: 545.945740 meters looking forward 100.000000 meters along route
#   Maximum depth: 553.418627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 495.945740 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780461;
longitude = -121.906070;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 503.532486;
finalDepth = 495.945740;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:495.94574 
#   Seafloor depth:-545.945740
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 167
#   Segment length 101.572836 meters
#   Minimum depth: 553.532486 meters looking forward 100.000000 meters along route
#   Maximum depth: 556.942488 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 503.532486 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779966;
longitude = -121.905267;
captureRadius = 10;
duration = 101;
initialDepth = 507.105952;
finalDepth = 503.532486;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:503.532486 
#   Seafloor depth:-553.532486
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 167
#   Segment length 101.572836 meters
#   Minimum depth: 557.105952 meters looking forward 100.000000 meters along route
#   Maximum depth: 559.727749 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.105952 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779395;
longitude = -121.904339;
captureRadius = 10;
duration = 101;
initialDepth = 508.212602;
finalDepth = 507.105952;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:507.105952 
#   Seafloor depth:-557.105952
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 166
#   Segment length 101.572836 meters
#   Minimum depth: 558.212602 meters looking forward 100.000000 meters along route
#   Maximum depth: 560.234176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 508.212602 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778839;
longitude = -121.903437;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 509.921171;
finalDepth = 508.212602;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.3101790000001
#   Actual altitude: 51.3101790000001
#   Commanded vehicle depth:508.212602 
#   Seafloor depth:-559.522781
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.24;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.26;
MB_Bottom_Detect_Filter_Max_Range = 205.24;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 166
#   Segment length 101.572836 meters
#   Minimum depth: 559.921171 meters looking forward 100.000000 meters along route
#   Maximum depth: 562.251288 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 509.921171 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778639;
longitude = -121.902970;
captureRadius = 10;
duration = 101;
initialDepth = 512.451969;
finalDepth = 509.921171;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.3101790000001
#   Actual altitude: 51.3101790000001
#   Commanded vehicle depth:509.921171 
#   Seafloor depth:-560.591604
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.24;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.26;
MB_Bottom_Detect_Filter_Max_Range = 205.24;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 166
#   Segment length 101.572836 meters
#   Minimum depth: 562.451969 meters looking forward 100.000000 meters along route
#   Maximum depth: 565.098014 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 512.451969 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778207;
longitude = -121.901962;
captureRadius = 10;
duration = 101;
initialDepth = 515.115265;
finalDepth = 512.451969;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.670433
#   Actual altitude: 50.670433
#   Commanded vehicle depth:512.451969 
#   Seafloor depth:-562.451969
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 166
#   Segment length 101.572836 meters
#   Minimum depth: 565.115265 meters looking forward 100.000000 meters along route
#   Maximum depth: 569.750515 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 515.115265 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777776;
longitude = -121.900954;
captureRadius = 10;
duration = 101;
initialDepth = 517.004839;
finalDepth = 515.115265;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:515.115265 
#   Seafloor depth:-565.115265
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 165
#   Segment length 101.572836 meters
#   Minimum depth: 567.004839 meters looking forward 100.000000 meters along route
#   Maximum depth: 569.750515 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 517.004839 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777352;
longitude = -121.899964;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 519.238062;
finalDepth = 517.004839;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.6115090000001
#   Actual altitude: 52.6115090000001
#   Commanded vehicle depth:517.004839 
#   Seafloor depth:-569.616348
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 165
#   Segment length 101.572836 meters
#   Minimum depth: 569.238062 meters looking forward 100.000000 meters along route
#   Maximum depth: 572.000656 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.238062 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777135;
longitude = -121.899721;
captureRadius = 10;
duration = 101;
initialDepth = 519.552231;
finalDepth = 519.238062;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.6115090000001
#   Actual altitude: 52.6115090000001
#   Commanded vehicle depth:519.238062 
#   Seafloor depth:-569.238062
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 164
#   Segment length 101.572836 meters
#   Minimum depth: 569.552231 meters looking forward 100.000000 meters along route
#   Maximum depth: 572.000656 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.552231 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776451;
longitude = -121.898956;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 520.028694;
finalDepth = 519.552231;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.380447
#   Actual altitude: 52.380447
#   Commanded vehicle depth:519.552231 
#   Seafloor depth:-571.932678
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 164
#   Segment length 101.572836 meters
#   Minimum depth: 570.028694 meters looking forward 100.000000 meters along route
#   Maximum depth: 575.062987 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 520.028694 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776060;
longitude = -121.899095;
captureRadius = 10;
duration = 101;
initialDepth = 513.104505;
finalDepth = 520.028694;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.380447
#   Actual altitude: 52.380447
#   Commanded vehicle depth:520.028694 
#   Seafloor depth:-571.470086
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 163
#   Segment length 101.572836 meters
#   Minimum depth: 563.104505 meters looking forward 100.000000 meters along route
#   Maximum depth: 575.062987 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 513.104505 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775189;
longitude = -121.899404;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 522.116828;
finalDepth = 513.104505;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.394442
#   Actual altitude: 55.394442
#   Commanded vehicle depth:513.104505 
#   Seafloor depth:-568.498947
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.58;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 163
#   Segment length 101.572836 meters
#   Minimum depth: 573.785264 meters looking forward 100.000000 meters along route
#   Maximum depth: 585.302579 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 522.116828 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774979;
longitude = -121.899616;
captureRadius = 10;
duration = 101;
initialDepth = 532.961078;
finalDepth = 522.116828;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.394442
#   Actual altitude: 55.394442
#   Commanded vehicle depth:522.116828400001 
#   Seafloor depth:-573.785264
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.58;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 162
#   Segment length 101.572836 meters
#   Minimum depth: 582.961078 meters looking forward 100.000000 meters along route
#   Maximum depth: 585.331635 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 532.961078 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774243;
longitude = -121.900356;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 535.516271;
finalDepth = 532.961078;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.370557
#   Actual altitude: 52.370557
#   Commanded vehicle depth:532.961078 
#   Seafloor depth:-585.331635
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 162
#   Segment length 101.572836 meters
#   Minimum depth: 585.516271 meters looking forward 100.000000 meters along route
#   Maximum depth: 588.979113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 535.516271 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774131;
longitude = -121.900842;
captureRadius = 10;
duration = 101;
initialDepth = 536.072671;
finalDepth = 535.516271;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.370557
#   Actual altitude: 52.370557
#   Commanded vehicle depth:535.516271 
#   Seafloor depth:-585.516271
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 161
#   Segment length 101.572836 meters
#   Minimum depth: 586.072671 meters looking forward 100.000000 meters along route
#   Maximum depth: 589.271088 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 536.072671 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773882;
longitude = -121.901925;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 537.001115;
finalDepth = 536.072671;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1984169999999
#   Actual altitude: 53.1984169999999
#   Commanded vehicle depth:536.072671 
#   Seafloor depth:-589.271088
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 161
#   Segment length 101.572836 meters
#   Minimum depth: 587.001115 meters looking forward 100.000000 meters along route
#   Maximum depth: 589.535699 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 537.001115 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773920;
longitude = -121.902130;
captureRadius = 10;
duration = 101;
initialDepth = 538.980713;
finalDepth = 537.001115;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1984169999999
#   Actual altitude: 53.1984169999999
#   Commanded vehicle depth:537.001115 
#   Seafloor depth:-589.369837
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.79;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.79;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.79;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 161
#   Segment length 101.572836 meters
#   Minimum depth: 588.980713 meters looking forward 100.000000 meters along route
#   Maximum depth: 597.475829 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 538.980713 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774129;
longitude = -121.903250;
captureRadius = 10;
duration = 101;
initialDepth = 547.312862;
finalDepth = 538.980713;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.3687219999999
#   Actual altitude: 52.3687219999999
#   Commanded vehicle depth:538.980713 
#   Seafloor depth:-588.980713
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 161
#   Segment length 101.572836 meters
#   Minimum depth: 597.312862 meters looking forward 100.000000 meters along route
#   Maximum depth: 602.079999 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.312862 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774338;
longitude = -121.904371;
captureRadius = 10;
duration = 101;
initialDepth = 549.734223;
finalDepth = 547.312862;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.042324
#   Actual altitude: 50.042324
#   Commanded vehicle depth:547.312862 
#   Seafloor depth:-597.355186
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.01;
MB_Bottom_Detect_Filter_Max_Range = 200.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 160
#   Segment length 101.572836 meters
#   Minimum depth: 599.734223 meters looking forward 100.000000 meters along route
#   Maximum depth: 603.625512 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 549.734223 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774543;
longitude = -121.905472;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 553.652382;
finalDepth = 549.734223;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.483886
#   Actual altitude: 52.483886
#   Commanded vehicle depth:549.734223 
#   Seafloor depth:-602.218109
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.94;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.50;
MB_Bottom_Detect_Filter_Max_Range = 209.94;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 160
#   Segment length 101.572836 meters
#   Minimum depth: 603.652382 meters looking forward 100.000000 meters along route
#   Maximum depth: 606.773310 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 553.652382 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774721;
longitude = -121.906107;
captureRadius = 10;
duration = 101;
initialDepth = 556.850025;
finalDepth = 553.652382;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.483886
#   Actual altitude: 52.483886
#   Commanded vehicle depth:553.652382 
#   Seafloor depth:-603.652382
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.94;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.50;
MB_Bottom_Detect_Filter_Max_Range = 209.94;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 160
#   Segment length 101.572836 meters
#   Minimum depth: 606.850025 meters looking forward 100.000000 meters along route
#   Maximum depth: 609.204638 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 556.850025 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775024;
longitude = -121.907185;
captureRadius = 10;
duration = 101;
initialDepth = 557.402786;
finalDepth = 556.850025;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:556.850025 
#   Seafloor depth:-606.850025
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 159
#   Segment length 101.572836 meters
#   Minimum depth: 607.402786 meters looking forward 100.000000 meters along route
#   Maximum depth: 609.503253 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 557.402786 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775324;
longitude = -121.908255;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 559.584507;
finalDepth = 557.402786;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.809983
#   Actual altitude: 51.809983
#   Commanded vehicle depth:557.402786 
#   Seafloor depth:-609.212769
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.24;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.36;
MB_Bottom_Detect_Filter_Max_Range = 207.24;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 159
#   Segment length 101.572836 meters
#   Minimum depth: 609.584507 meters looking forward 100.000000 meters along route
#   Maximum depth: 612.605529 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 559.584507 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775384;
longitude = -121.908419;
captureRadius = 10;
duration = 101;
initialDepth = 562.841017;
finalDepth = 559.584507;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.809983
#   Actual altitude: 51.809983
#   Commanded vehicle depth:559.584507 
#   Seafloor depth:-609.584507
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.24;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.36;
MB_Bottom_Detect_Filter_Max_Range = 207.24;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 159
#   Segment length 101.572836 meters
#   Minimum depth: 612.841017 meters looking forward 100.000000 meters along route
#   Maximum depth: 616.818875 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.841017 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775768;
longitude = -121.909468;
captureRadius = 10;
duration = 101;
initialDepth = 567.069961;
finalDepth = 562.841017;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:562.841017 
#   Seafloor depth:-612.841017
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 159
#   Segment length 101.572836 meters
#   Minimum depth: 617.069961 meters looking forward 100.000000 meters along route
#   Maximum depth: 619.972470 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 567.069961 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776150;
longitude = -121.910514;
captureRadius = 10;
duration = 101;
initialDepth = 569.690612;
finalDepth = 567.069961;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:567.069961 
#   Seafloor depth:-617.069961
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 159
#   Segment length 101.572836 meters
#   Minimum depth: 619.690612 meters looking forward 100.000000 meters along route
#   Maximum depth: 621.686574 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 569.690612 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776526;
longitude = -121.911541;
captureRadius = 10;
duration = 101;
initialDepth = 570.950952;
finalDepth = 569.690612;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.252419
#   Actual altitude: 50.252419
#   Commanded vehicle depth:569.690612 
#   Seafloor depth:-619.943031
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.05;
MB_Bottom_Detect_Filter_Max_Range = 201.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 158
#   Segment length 101.572836 meters
#   Minimum depth: 620.950952 meters looking forward 100.000000 meters along route
#   Maximum depth: 623.792221 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 570.950952 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776901;
longitude = -121.912568;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 572.518175;
finalDepth = 570.950952;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.875128
#   Actual altitude: 50.875128
#   Commanded vehicle depth:570.950952 
#   Seafloor depth:-621.826080
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 158
#   Segment length 101.572836 meters
#   Minimum depth: 622.518175 meters looking forward 100.000000 meters along route
#   Maximum depth: 626.216661 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 572.518175 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777502;
longitude = -121.913423;
captureRadius = 10;
duration = 101;
initialDepth = 576.465345;
finalDepth = 572.518175;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.875128
#   Actual altitude: 50.875128
#   Commanded vehicle depth:572.518175 
#   Seafloor depth:-623.112289
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 158
#   Segment length 101.572836 meters
#   Minimum depth: 626.465345 meters looking forward 100.000000 meters along route
#   Maximum depth: 629.892040 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 576.465345 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778109;
longitude = -121.914286;
captureRadius = 10;
duration = 101;
initialDepth = 580.012360;
finalDepth = 576.465345;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.594114
#   Actual altitude: 50.594114
#   Commanded vehicle depth:576.465345 
#   Seafloor depth:-626.465345
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.38;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.38;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.38;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 157
#   Segment length 101.572836 meters
#   Minimum depth: 630.012360 meters looking forward 100.000000 meters along route
#   Maximum depth: 631.648520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 580.012360 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778716;
longitude = -121.915150;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 581.548334;
finalDepth = 580.012360;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:580.01236 
#   Seafloor depth:-630.012360
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 157
#   Segment length 101.572836 meters
#   Minimum depth: 631.548334 meters looking forward 100.000000 meters along route
#   Maximum depth: 634.670193 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 581.548334 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779304;
longitude = -121.915967;
captureRadius = 10;
duration = 101;
initialDepth = 585.054721;
finalDepth = 581.548334;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:581.548334 
#   Seafloor depth:-631.548334
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 157
#   Segment length 101.572836 meters
#   Minimum depth: 635.054721 meters looking forward 100.000000 meters along route
#   Maximum depth: 639.635879 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 585.054721 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779910;
longitude = -121.916807;
captureRadius = 10;
duration = 101;
initialDepth = 590.116053;
finalDepth = 585.054721;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:585.054721 
#   Seafloor depth:-635.054721
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 157
#   Segment length 101.572836 meters
#   Minimum depth: 640.116053 meters looking forward 100.000000 meters along route
#   Maximum depth: 642.141950 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 590.116053 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780515;
longitude = -121.917647;
captureRadius = 10;
duration = 101;
initialDepth = 592.138952;
finalDepth = 590.116053;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:590.116053 
#   Seafloor depth:-640.116053
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 157
#   Segment length 101.572836 meters
#   Minimum depth: 642.138952 meters looking forward 100.000000 meters along route
#   Maximum depth: 643.460113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 592.138952 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781121;
longitude = -121.918487;
captureRadius = 10;
duration = 101;
initialDepth = 593.007008;
finalDepth = 592.138952;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:592.138952 
#   Seafloor depth:-642.138952
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 156
#   Segment length 101.572836 meters
#   Minimum depth: 643.007008 meters looking forward 100.000000 meters along route
#   Maximum depth: 643.514718 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 593.007008 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781753;
longitude = -121.919365;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 592.568247;
finalDepth = 593.007008;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.091091
#   Actual altitude: 50.091091
#   Commanded vehicle depth:593.007008 
#   Seafloor depth:-643.098099
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.02;
MB_Bottom_Detect_Filter_Max_Range = 200.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 156
#   Segment length 101.572836 meters
#   Minimum depth: 642.568247 meters looking forward 100.000000 meters along route
#   Maximum depth: 643.900112 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 592.568247 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782233;
longitude = -121.919900;
captureRadius = 10;
duration = 101;
initialDepth = 593.497741;
finalDepth = 592.568247;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.042873
#   Actual altitude: 51.042873
#   Commanded vehicle depth:592.568247 
#   Seafloor depth:-643.611120
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 156
#   Segment length 101.572836 meters
#   Minimum depth: 643.497741 meters looking forward 100.000000 meters along route
#   Maximum depth: 646.024490 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 593.497741 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782909;
longitude = -121.920652;
captureRadius = 10;
duration = 101;
initialDepth = 595.406216;
finalDepth = 593.497741;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.042873
#   Actual altitude: 51.042873
#   Commanded vehicle depth:593.497741 
#   Seafloor depth:-643.497741
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 156
#   Segment length 101.572836 meters
#   Minimum depth: 645.406216 meters looking forward 100.000000 meters along route
#   Maximum depth: 646.536122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 595.406216 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783585;
longitude = -121.921405;
captureRadius = 10;
duration = 101;
initialDepth = 596.584743;
finalDepth = 595.406216;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.3828470000001
#   Actual altitude: 50.3828470000001
#   Commanded vehicle depth:595.406216 
#   Seafloor depth:-645.789063
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.08;
MB_Bottom_Detect_Filter_Max_Range = 201.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 156
#   Segment length 101.572836 meters
#   Minimum depth: 646.584743 meters looking forward 100.000000 meters along route
#   Maximum depth: 647.618192 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 596.584743 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784261;
longitude = -121.922157;
captureRadius = 10;
duration = 101;
initialDepth = 597.649281;
finalDepth = 596.584743;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.3828470000001
#   Actual altitude: 50.3828470000001
#   Commanded vehicle depth:596.584743 
#   Seafloor depth:-646.584743
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.08;
MB_Bottom_Detect_Filter_Max_Range = 201.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 156
#   Segment length 101.572836 meters
#   Minimum depth: 647.649281 meters looking forward 100.000000 meters along route
#   Maximum depth: 653.026923 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 597.649281 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784940;
longitude = -121.922913;
captureRadius = 10;
duration = 101;
initialDepth = 596.201214;
finalDepth = 597.649281;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:597.649281 
#   Seafloor depth:-647.649281
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 155
#   Segment length 101.572836 meters
#   Minimum depth: 646.201214 meters looking forward 100.000000 meters along route
#   Maximum depth: 653.811431 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 596.201214 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785628;
longitude = -121.923679;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 591.633766;
finalDepth = 596.201214;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.3357119999999
#   Actual altitude: 56.3357119999999
#   Commanded vehicle depth:596.201214 
#   Seafloor depth:-652.536926
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.27;
MB_Bottom_Detect_Filter_Max_Range = 225.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 155
#   Segment length 101.572836 meters
#   Minimum depth: 641.633766 meters looking forward 100.000000 meters along route
#   Maximum depth: 648.587983 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 591.633766 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786244;
longitude = -121.924133;
captureRadius = 10;
duration = 101;
initialDepth = 598.625607;
finalDepth = 591.633766;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.3357119999999
#   Actual altitude: 56.3357119999999
#   Commanded vehicle depth:591.633766 
#   Seafloor depth:-645.110581
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.27;
MB_Bottom_Detect_Filter_Max_Range = 225.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 155
#   Segment length 101.572836 meters
#   Minimum depth: 648.625607 meters looking forward 100.000000 meters along route
#   Maximum depth: 658.682899 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 598.625607 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787021;
longitude = -121.924706;
captureRadius = 10;
duration = 101;
initialDepth = 599.044797;
finalDepth = 598.625607;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.476815
#   Actual altitude: 53.476815
#   Commanded vehicle depth:598.625607 
#   Seafloor depth:-648.625607
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.70;
MB_Bottom_Detect_Filter_Max_Range = 213.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 154
#   Segment length 101.572836 meters
#   Minimum depth: 649.044797 meters looking forward 100.000000 meters along route
#   Maximum depth: 658.682899 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 599.044797 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787806;
longitude = -121.925284;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 605.693806;
finalDepth = 599.044797;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.690875
#   Actual altitude: 55.690875
#   Commanded vehicle depth:599.044797 
#   Seafloor depth:-654.735672
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.14;
MB_Bottom_Detect_Filter_Max_Range = 222.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 154
#   Segment length 101.572836 meters
#   Minimum depth: 657.197199 meters looking forward 100.000000 meters along route
#   Maximum depth: 664.977453 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 605.693806 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787911;
longitude = -121.925495;
captureRadius = 10;
duration = 101;
initialDepth = 613.202444;
finalDepth = 605.693806;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.690875
#   Actual altitude: 55.690875
#   Commanded vehicle depth:605.6938062 
#   Seafloor depth:-657.197199
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.14;
MB_Bottom_Detect_Filter_Max_Range = 222.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 153
#   Segment length 101.572836 meters
#   Minimum depth: 663.202444 meters looking forward 100.000000 meters along route
#   Maximum depth: 670.543231 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 613.202444 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788392;
longitude = -121.926461;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 620.809125;
finalDepth = 613.202444;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.039484
#   Actual altitude: 52.039484
#   Commanded vehicle depth:613.202444 
#   Seafloor depth:-665.241928
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 153
#   Segment length 101.572836 meters
#   Minimum depth: 670.809125 meters looking forward 100.000000 meters along route
#   Maximum depth: 680.798467 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 620.809125 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787984;
longitude = -121.926946;
captureRadius = 10;
duration = 101;
initialDepth = 629.045303;
finalDepth = 620.809125;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.039484
#   Actual altitude: 52.039484
#   Commanded vehicle depth:620.809125 
#   Seafloor depth:-670.809125
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 152
#   Segment length 101.572836 meters
#   Minimum depth: 679.045303 meters looking forward 100.000000 meters along route
#   Maximum depth: 686.018190 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 629.045303 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787310;
longitude = -121.927749;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 636.066046;
finalDepth = 629.045303;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.194352
#   Actual altitude: 52.194352
#   Commanded vehicle depth:629.045303 
#   Seafloor depth:-681.239655
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 152
#   Segment length 101.572836 meters
#   Minimum depth: 686.066046 meters looking forward 100.000000 meters along route
#   Maximum depth: 688.889913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 636.066046 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786909;
longitude = -121.928347;
captureRadius = 10;
duration = 101;
initialDepth = 638.938094;
finalDepth = 636.066046;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.194352
#   Actual altitude: 52.194352
#   Commanded vehicle depth:636.066046 
#   Seafloor depth:-686.066046
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.44;
MB_Bottom_Detect_Filter_Max_Range = 208.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 152
#   Segment length 101.572836 meters
#   Minimum depth: 688.938094 meters looking forward 100.000000 meters along route
#   Maximum depth: 691.378978 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 638.938094 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786307;
longitude = -121.929243;
captureRadius = 10;
duration = 101;
initialDepth = 639.294014;
finalDepth = 638.938094;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:638.938094 
#   Seafloor depth:-688.938094
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 151
#   Segment length 101.572836 meters
#   Minimum depth: 689.294014 meters looking forward 100.000000 meters along route
#   Maximum depth: 690.898186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 639.294014 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785718;
longitude = -121.930121;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 640.369634;
finalDepth = 639.294014;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.4274370000001
#   Actual altitude: 50.4274370000001
#   Commanded vehicle depth:639.294014 
#   Seafloor depth:-689.721451
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.09;
MB_Bottom_Detect_Filter_Max_Range = 201.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 151
#   Segment length 101.572836 meters
#   Minimum depth: 690.369634 meters looking forward 100.000000 meters along route
#   Maximum depth: 692.060913 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 640.369634 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785473;
longitude = -121.930756;
captureRadius = 10;
duration = 101;
initialDepth = 641.453398;
finalDepth = 640.369634;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.4274370000001
#   Actual altitude: 50.4274370000001
#   Commanded vehicle depth:640.369634 
#   Seafloor depth:-690.621185
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.09;
MB_Bottom_Detect_Filter_Max_Range = 201.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 151
#   Segment length 101.572836 meters
#   Minimum depth: 691.453398 meters looking forward 100.000000 meters along route
#   Maximum depth: 693.906264 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 641.453398 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785061;
longitude = -121.931820;
captureRadius = 10;
duration = 101;
initialDepth = 641.835039;
finalDepth = 641.453398;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.647721
#   Actual altitude: 50.647721
#   Commanded vehicle depth:641.453398 
#   Seafloor depth:-692.101119
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 151
#   Segment length 101.572836 meters
#   Minimum depth: 691.835039 meters looking forward 100.000000 meters along route
#   Maximum depth: 692.542617 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 641.835039 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784650;
longitude = -121.932884;
captureRadius = 10;
duration = 101;
initialDepth = 641.547628;
finalDepth = 641.835039;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.655348
#   Actual altitude: 50.655348
#   Commanded vehicle depth:641.835039 
#   Seafloor depth:-692.490387
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 151
#   Segment length 101.572836 meters
#   Minimum depth: 691.547628 meters looking forward 100.000000 meters along route
#   Maximum depth: 692.206693 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 641.547628 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784238;
longitude = -121.933949;
captureRadius = 10;
duration = 101;
initialDepth = 636.138666;
finalDepth = 641.547628;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.6590649999999
#   Actual altitude: 50.6590649999999
#   Commanded vehicle depth:641.547628 
#   Seafloor depth:-692.206693
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 150
#   Segment length 101.572836 meters
#   Minimum depth: 686.138666 meters looking forward 100.000000 meters along route
#   Maximum depth: 691.657486 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 636.138666 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783841;
longitude = -121.934976;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 630.270414;
finalDepth = 636.138666;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.4198060000001
#   Actual altitude: 55.4198060000001
#   Commanded vehicle depth:636.138666 
#   Seafloor depth:-691.558472
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 150
#   Segment length 101.572836 meters
#   Minimum depth: 680.270414 meters looking forward 100.000000 meters along route
#   Maximum depth: 685.228753 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 630.270414 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783470;
longitude = -121.935909;
captureRadius = 10;
duration = 101;
initialDepth = 630.257908;
finalDepth = 630.270414;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.4198060000001
#   Actual altitude: 55.4198060000001
#   Commanded vehicle depth:630.270414 
#   Seafloor depth:-685.228753
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 150
#   Segment length 101.572836 meters
#   Minimum depth: 680.257908 meters looking forward 100.000000 meters along route
#   Maximum depth: 682.887982 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 630.257908 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783069;
longitude = -121.936918;
captureRadius = 10;
duration = 101;
initialDepth = 630.716980;
finalDepth = 630.257908;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.958339
#   Actual altitude: 54.958339
#   Commanded vehicle depth:630.257908 
#   Seafloor depth:-680.473836
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.83;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.99;
MB_Bottom_Detect_Filter_Max_Range = 219.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 149
#   Segment length 101.572836 meters
#   Minimum depth: 680.716980 meters looking forward 100.000000 meters along route
#   Maximum depth: 687.345054 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 630.716980 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782654;
longitude = -121.937963;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 637.726553;
finalDepth = 630.716980;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.353714
#   Actual altitude: 52.353714
#   Commanded vehicle depth:630.71698 
#   Seafloor depth:-683.070694
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 149
#   Segment length 101.572836 meters
#   Minimum depth: 687.726553 meters looking forward 100.000000 meters along route
#   Maximum depth: 703.294635 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 637.726553 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782553;
longitude = -121.938598;
captureRadius = 10;
duration = 101;
initialDepth = 653.954907;
finalDepth = 637.726553;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.353714
#   Actual altitude: 52.353714
#   Commanded vehicle depth:637.726553 
#   Seafloor depth:-687.726553
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 149
#   Segment length 101.572836 meters
#   Minimum depth: 703.954907 meters looking forward 100.000000 meters along route
#   Maximum depth: 717.120705 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 653.954907 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782376;
longitude = -121.939719;
captureRadius = 10;
duration = 101;
initialDepth = 667.973720;
finalDepth = 653.954907;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:653.954907 
#   Seafloor depth:-703.954907
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 149
#   Segment length 101.572836 meters
#   Minimum depth: 717.973720 meters looking forward 100.000000 meters along route
#   Maximum depth: 728.075798 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 667.973720 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782198;
longitude = -121.940839;
captureRadius = 10;
duration = 101;
initialDepth = 673.412757;
finalDepth = 667.973720;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:667.97372 
#   Seafloor depth:-717.973720
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 148
#   Segment length 101.572836 meters
#   Minimum depth: 723.412757 meters looking forward 100.000000 meters along route
#   Maximum depth: 730.070480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 673.412757 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782023;
longitude = -121.941941;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 680.096404;
finalDepth = 673.412757;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.7333149999999
#   Actual altitude: 54.7333149999999
#   Commanded vehicle depth:673.412757 
#   Seafloor depth:-728.146072
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.93;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.95;
MB_Bottom_Detect_Filter_Max_Range = 218.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 148
#   Segment length 101.572836 meters
#   Minimum depth: 730.096404 meters looking forward 100.000000 meters along route
#   Maximum depth: 733.887448 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 680.096404 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781991;
longitude = -121.942407;
captureRadius = 10;
duration = 101;
initialDepth = 683.974836;
finalDepth = 680.096404;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.7333149999999
#   Actual altitude: 54.7333149999999
#   Commanded vehicle depth:680.096404 
#   Seafloor depth:-730.096404
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.93;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.95;
MB_Bottom_Detect_Filter_Max_Range = 218.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 148
#   Segment length 101.572836 meters
#   Minimum depth: 733.974836 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.796278 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 683.974836 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781915;
longitude = -121.943528;
captureRadius = 10;
duration = 101;
initialDepth = 686.728989;
finalDepth = 683.974836;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:683.974836 
#   Seafloor depth:-733.974836
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 148
#   Segment length 101.572836 meters
#   Minimum depth: 736.728989 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.569353 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.728989 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781838;
longitude = -121.944648;
captureRadius = 10;
duration = 101;
initialDepth = 690.003899;
finalDepth = 686.728989;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.11455
#   Actual altitude: 50.11455
#   Commanded vehicle depth:686.728989 
#   Seafloor depth:-736.843539
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.02;
MB_Bottom_Detect_Filter_Max_Range = 200.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 148
#   Segment length 101.572836 meters
#   Minimum depth: 740.003899 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.370840 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.003899 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781762;
longitude = -121.945769;
captureRadius = 10;
duration = 101;
initialDepth = 690.699692;
finalDepth = 690.003899;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.11455
#   Actual altitude: 50.11455
#   Commanded vehicle depth:690.003899 
#   Seafloor depth:-740.003899
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.02;
MB_Bottom_Detect_Filter_Max_Range = 200.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 147
#   Segment length 101.572836 meters
#   Minimum depth: 740.699692 meters looking forward 100.000000 meters along route
#   Maximum depth: 743.401962 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 690.699692 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781684;
longitude = -121.946906;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 691.741889;
finalDepth = 690.699692;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.70227
#   Actual altitude: 52.70227
#   Commanded vehicle depth:690.699692 
#   Seafloor depth:-743.401962
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 147
#   Segment length 101.572836 meters
#   Minimum depth: 743.320350 meters looking forward 100.000000 meters along route
#   Maximum depth: 744.402695 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 691.741889 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781685;
longitude = -121.946945;
captureRadius = 10;
duration = 101;
initialDepth = 694.308476;
finalDepth = 691.741889;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.70227
#   Actual altitude: 52.70227
#   Commanded vehicle depth:691.741889 
#   Seafloor depth:-743.320350
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 147
#   Segment length 101.572836 meters
#   Minimum depth: 744.308476 meters looking forward 100.000000 meters along route
#   Maximum depth: 745.299524 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 694.308476 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781720;
longitude = -121.948065;
captureRadius = 10;
duration = 101;
initialDepth = 695.433869;
finalDepth = 694.308476;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.5784610000004
#   Actual altitude: 51.5784610000004
#   Commanded vehicle depth:694.308476 
#   Seafloor depth:-744.524079
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.32;
MB_Bottom_Detect_Filter_Max_Range = 206.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 147
#   Segment length 101.572836 meters
#   Minimum depth: 745.433869 meters looking forward 100.000000 meters along route
#   Maximum depth: 752.278124 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 695.433869 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781754;
longitude = -121.949186;
captureRadius = 10;
duration = 101;
initialDepth = 702.493744;
finalDepth = 695.433869;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.215603
#   Actual altitude: 50.215603
#   Commanded vehicle depth:695.433869 
#   Seafloor depth:-745.433869
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.86;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 200.86;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 147
#   Segment length 101.572836 meters
#   Minimum depth: 752.493744 meters looking forward 100.000000 meters along route
#   Maximum depth: 756.936163 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.493744 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781789;
longitude = -121.950306;
captureRadius = 10;
duration = 101;
initialDepth = 706.874691;
finalDepth = 702.493744;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:702.493744 
#   Seafloor depth:-752.493744
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 147
#   Segment length 101.572836 meters
#   Minimum depth: 756.874691 meters looking forward 100.000000 meters along route
#   Maximum depth: 758.821899 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.874691 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781823;
longitude = -121.951426;
captureRadius = 10;
duration = 101;
initialDepth = 707.879794;
finalDepth = 706.874691;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.127686
#   Actual altitude: 50.127686
#   Commanded vehicle depth:706.874691 
#   Seafloor depth:-757.002377
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.03;
MB_Bottom_Detect_Filter_Max_Range = 200.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 146
#   Segment length 101.572836 meters
#   Minimum depth: 757.879794 meters looking forward 100.000000 meters along route
#   Maximum depth: 760.532328 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 707.879794 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781858;
longitude = -121.952565;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 710.279995;
finalDepth = 707.879794;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1069
#   Actual altitude: 51.1069
#   Commanded vehicle depth:707.879794 
#   Seafloor depth:-758.986694
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.22;
MB_Bottom_Detect_Filter_Max_Range = 204.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 146
#   Segment length 101.572836 meters
#   Minimum depth: 760.279995 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.898869 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 710.279995 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781738;
longitude = -121.953242;
captureRadius = 10;
duration = 101;
initialDepth = 714.258609;
finalDepth = 710.279995;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1069
#   Actual altitude: 51.1069
#   Commanded vehicle depth:710.279995 
#   Seafloor depth:-760.362809
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.22;
MB_Bottom_Detect_Filter_Max_Range = 204.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 146
#   Segment length 101.572836 meters
#   Minimum depth: 764.258609 meters looking forward 100.000000 meters along route
#   Maximum depth: 767.812483 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 714.258609 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781543;
longitude = -121.954339;
captureRadius = 10;
duration = 101;
initialDepth = 717.143377;
finalDepth = 714.258609;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.082814
#   Actual altitude: 50.082814
#   Commanded vehicle depth:714.258609 
#   Seafloor depth:-764.258609
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.33;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.02;
MB_Bottom_Detect_Filter_Max_Range = 200.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 145
#   Segment length 101.572836 meters
#   Minimum depth: 767.143377 meters looking forward 100.000000 meters along route
#   Maximum depth: 768.982319 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 717.143377 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781347;
longitude = -121.955441;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 719.152994;
finalDepth = 717.143377;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.775996
#   Actual altitude: 50.775996
#   Commanded vehicle depth:717.143377 
#   Seafloor depth:-767.919373
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.16;
MB_Bottom_Detect_Filter_Max_Range = 203.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 145
#   Segment length 101.572836 meters
#   Minimum depth: 769.152994 meters looking forward 100.000000 meters along route
#   Maximum depth: 776.115945 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 719.152994 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780596;
longitude = -121.956076;
captureRadius = 10;
duration = 101;
initialDepth = 726.254432;
finalDepth = 719.152994;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.775996
#   Actual altitude: 50.775996
#   Commanded vehicle depth:719.152994 
#   Seafloor depth:-769.152994
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.16;
MB_Bottom_Detect_Filter_Max_Range = 203.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 145
#   Segment length 101.572836 meters
#   Minimum depth: 776.254432 meters looking forward 100.000000 meters along route
#   Maximum depth: 780.791360 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 726.254432 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779845;
longitude = -121.956711;
captureRadius = 10;
duration = 101;
initialDepth = 727.531626;
finalDepth = 726.254432;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:726.254432 
#   Seafloor depth:-776.254432
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 144
#   Segment length 101.572836 meters
#   Minimum depth: 777.531626 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.380762 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 727.531626 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779094;
longitude = -121.957346;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 731.233119;
finalDepth = 727.531626;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.306997
#   Actual altitude: 53.306997
#   Commanded vehicle depth:727.531626 
#   Seafloor depth:-780.838623
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.66;
MB_Bottom_Detect_Filter_Max_Range = 213.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 144
#   Segment length 101.572836 meters
#   Minimum depth: 781.233119 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.186047 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.233119 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779012;
longitude = -121.957532;
captureRadius = 10;
duration = 101;
initialDepth = 733.088893;
finalDepth = 731.233119;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.306997
#   Actual altitude: 53.306997
#   Commanded vehicle depth:731.233119 
#   Seafloor depth:-781.638559
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.66;
MB_Bottom_Detect_Filter_Max_Range = 213.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 144
#   Segment length 101.572836 meters
#   Minimum depth: 783.088893 meters looking forward 100.000000 meters along route
#   Maximum depth: 783.792248 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.088893 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778566;
longitude = -121.958541;
captureRadius = 10;
duration = 101;
initialDepth = 733.641308;
finalDepth = 733.088893;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.40544
#   Actual altitude: 50.40544
#   Commanded vehicle depth:733.088893 
#   Seafloor depth:-783.322956
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.08;
MB_Bottom_Detect_Filter_Max_Range = 201.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 144
#   Segment length 101.572836 meters
#   Minimum depth: 783.641308 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.895025 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 733.641308 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778121;
longitude = -121.959549;
captureRadius = 10;
duration = 101;
initialDepth = 734.351765;
finalDepth = 733.641308;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.234063
#   Actual altitude: 50.234063
#   Commanded vehicle depth:733.641308 
#   Seafloor depth:-783.641308
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.94;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.05;
MB_Bottom_Detect_Filter_Max_Range = 200.94;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.94;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 143
#   Segment length 101.572836 meters
#   Minimum depth: 784.351765 meters looking forward 100.000000 meters along route
#   Maximum depth: 785.169103 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.351765 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777667;
longitude = -121.960576;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 734.668341;
finalDepth = 734.351765;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.304485
#   Actual altitude: 50.304485
#   Commanded vehicle depth:734.351765 
#   Seafloor depth:-784.656250
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 143
#   Segment length 101.572836 meters
#   Minimum depth: 784.668341 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.088304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.668341 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777006;
longitude = -121.961069;
captureRadius = 10;
duration = 101;
initialDepth = 738.252637;
finalDepth = 734.668341;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.304485
#   Actual altitude: 50.304485
#   Commanded vehicle depth:734.668341 
#   Seafloor depth:-784.668341
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 143
#   Segment length 101.572836 meters
#   Minimum depth: 788.252637 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.683883 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.252637 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776190;
longitude = -121.961678;
captureRadius = 10;
duration = 101;
initialDepth = 732.609131;
finalDepth = 738.252637;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.727772
#   Actual altitude: 51.727772
#   Commanded vehicle depth:738.252637 
#   Seafloor depth:-789.980409
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 206.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 142
#   Segment length 101.572836 meters
#   Minimum depth: 782.609131 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.171204 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 732.609131 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775414;
longitude = -121.962257;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 730.642553;
finalDepth = 732.609131;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.5620729999999
#   Actual altitude: 55.5620729999999
#   Commanded vehicle depth:732.609131 
#   Seafloor depth:-788.171204
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.25;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.11;
MB_Bottom_Detect_Filter_Max_Range = 222.25;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.25;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 142
#   Segment length 101.572836 meters
#   Minimum depth: 780.642553 meters looking forward 100.000000 meters along route
#   Maximum depth: 784.379840 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 730.642553 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774663;
longitude = -121.962922;
captureRadius = 10;
duration = 101;
initialDepth = 734.785161;
finalDepth = 730.642553;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.5620729999999
#   Actual altitude: 55.5620729999999
#   Commanded vehicle depth:730.642553 
#   Seafloor depth:-782.454999
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.25;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.11;
MB_Bottom_Detect_Filter_Max_Range = 222.25;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.25;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 142
#   Segment length 101.572836 meters
#   Minimum depth: 784.785161 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.775236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 734.785161 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773897;
longitude = -121.963599;
captureRadius = 10;
duration = 101;
initialDepth = 739.710575;
finalDepth = 734.785161;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.812446
#   Actual altitude: 51.812446
#   Commanded vehicle depth:734.785161 
#   Seafloor depth:-784.785161
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.25;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.36;
MB_Bottom_Detect_Filter_Max_Range = 207.25;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.25;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 142
#   Segment length 101.572836 meters
#   Minimum depth: 789.710575 meters looking forward 100.000000 meters along route
#   Maximum depth: 791.434273 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 739.710575 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773157;
longitude = -121.964255;
captureRadius = 10;
duration = 101;
initialDepth = 740.486271;
finalDepth = 739.710575;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.0486970000001
#   Actual altitude: 51.0486970000001
#   Commanded vehicle depth:739.710575 
#   Seafloor depth:-790.759272
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.19;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 142
#   Segment length 101.572836 meters
#   Minimum depth: 790.486271 meters looking forward 100.000000 meters along route
#   Maximum depth: 797.010536 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.486271 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772397;
longitude = -121.964927;
captureRadius = 10;
duration = 101;
initialDepth = 744.045828;
finalDepth = 740.486271;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.0486970000001
#   Actual altitude: 51.0486970000001
#   Commanded vehicle depth:740.486271 
#   Seafloor depth:-790.486271
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.19;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 141
#   Segment length 101.572836 meters
#   Minimum depth: 794.045828 meters looking forward 100.000000 meters along route
#   Maximum depth: 799.350995 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 744.045828 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771659;
longitude = -121.965580;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 746.027682;
finalDepth = 744.045828;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.0397889999999
#   Actual altitude: 53.0397889999999
#   Commanded vehicle depth:744.045828 
#   Seafloor depth:-797.085617
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.16;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.61;
MB_Bottom_Detect_Filter_Max_Range = 212.16;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.16;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 141
#   Segment length 101.572836 meters
#   Minimum depth: 796.027682 meters looking forward 100.000000 meters along route
#   Maximum depth: 800.878949 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 746.027682 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771271;
longitude = -121.965991;
captureRadius = 10;
duration = 101;
initialDepth = 743.389538;
finalDepth = 746.027682;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.361934
#   Actual altitude: 53.361934
#   Commanded vehicle depth:746.027682 
#   Seafloor depth:-799.389616
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 141
#   Segment length 101.572836 meters
#   Minimum depth: 793.389538 meters looking forward 100.000000 meters along route
#   Maximum depth: 795.830382 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 743.389538 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770585;
longitude = -121.966719;
captureRadius = 10;
duration = 101;
initialDepth = 743.799606;
finalDepth = 743.389538;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.361934
#   Actual altitude: 53.361934
#   Commanded vehicle depth:743.389538 
#   Seafloor depth:-795.830382
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 141
#   Segment length 101.572836 meters
#   Minimum depth: 793.799606 meters looking forward 100.000000 meters along route
#   Maximum depth: 796.853695 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 743.799606 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769899;
longitude = -121.967448;
captureRadius = 10;
duration = 101;
initialDepth = 747.046352;
finalDepth = 743.799606;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.440844
#   Actual altitude: 52.440844
#   Commanded vehicle depth:743.799606 
#   Seafloor depth:-793.803117
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.49;
MB_Bottom_Detect_Filter_Max_Range = 209.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 141
#   Segment length 101.572836 meters
#   Minimum depth: 797.046352 meters looking forward 100.000000 meters along route
#   Maximum depth: 800.243503 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 747.046352 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769212;
longitude = -121.968176;
captureRadius = 10;
duration = 101;
initialDepth = 748.177267;
finalDepth = 747.046352;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.003511
#   Actual altitude: 50.003511
#   Commanded vehicle depth:747.046352 
#   Seafloor depth:-797.046352
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 141
#   Segment length 101.572836 meters
#   Minimum depth: 798.177267 meters looking forward 100.000000 meters along route
#   Maximum depth: 800.664441 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 748.177267 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.768526;
longitude = -121.968904;
captureRadius = 10;
duration = 101;
initialDepth = 750.778721;
finalDepth = 748.177267;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1949609999999
#   Actual altitude: 51.1949609999999
#   Commanded vehicle depth:748.177267 
#   Seafloor depth:-799.372228
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 141
#   Segment length 101.572836 meters
#   Minimum depth: 800.778721 meters looking forward 100.000000 meters along route
#   Maximum depth: 804.292992 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 750.778721 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767840;
longitude = -121.969632;
captureRadius = 10;
duration = 101;
initialDepth = 754.410621;
finalDepth = 750.778721;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1949609999999
#   Actual altitude: 51.1949609999999
#   Commanded vehicle depth:750.778721 
#   Seafloor depth:-800.778721
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 141
#   Segment length 101.572836 meters
#   Minimum depth: 804.410621 meters looking forward 100.000000 meters along route
#   Maximum depth: 807.061659 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 754.410621 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767138;
longitude = -121.970377;
captureRadius = 10;
duration = 101;
initialDepth = 755.180942;
finalDepth = 754.410621;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:754.410621 
#   Seafloor depth:-804.410621
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 140
#   Segment length 101.572836 meters
#   Minimum depth: 805.180942 meters looking forward 100.000000 meters along route
#   Maximum depth: 807.061659 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 755.180942 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766432;
longitude = -121.971126;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 753.060732;
finalDepth = 755.180942;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.658413
#   Actual altitude: 51.658413
#   Commanded vehicle depth:755.180942 
#   Seafloor depth:-806.839355
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.63;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.63;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 803.060732 meters looking forward 100.000000 meters along route
#   Maximum depth: 807.655520 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 753.060732 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766282;
longitude = -121.971347;
captureRadius = 10;
duration = 101;
initialDepth = 755.537035;
finalDepth = 753.060732;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.895212
#   Actual altitude: 51.895212
#   Commanded vehicle depth:753.060732 
#   Seafloor depth:-804.955944
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.58;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 805.537035 meters looking forward 100.000000 meters along route
#   Maximum depth: 808.779583 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 755.537035 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.765696;
longitude = -121.972211;
captureRadius = 10;
duration = 101;
initialDepth = 755.124409;
finalDepth = 755.537035;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.132329
#   Actual altitude: 52.132329
#   Commanded vehicle depth:755.537035 
#   Seafloor depth:-807.669364
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.43;
MB_Bottom_Detect_Filter_Max_Range = 208.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 805.124409 meters looking forward 100.000000 meters along route
#   Maximum depth: 811.309535 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 755.124409 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.765110;
longitude = -121.973074;
captureRadius = 10;
duration = 101;
initialDepth = 761.257618;
finalDepth = 755.124409;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.132329
#   Actual altitude: 52.132329
#   Commanded vehicle depth:755.124409 
#   Seafloor depth:-805.388897
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.43;
MB_Bottom_Detect_Filter_Max_Range = 208.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 811.257618 meters looking forward 100.000000 meters along route
#   Maximum depth: 814.353832 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 761.257618 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764524;
longitude = -121.973937;
captureRadius = 10;
duration = 101;
initialDepth = 764.350822;
finalDepth = 761.257618;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.8211670000001
#   Actual altitude: 50.8211670000001
#   Commanded vehicle depth:761.257618 
#   Seafloor depth:-812.078785
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.16;
MB_Bottom_Detect_Filter_Max_Range = 203.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 814.350822 meters looking forward 100.000000 meters along route
#   Maximum depth: 816.484753 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 764.350822 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763939;
longitude = -121.974800;
captureRadius = 10;
duration = 101;
initialDepth = 766.932702;
finalDepth = 764.350822;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.8211670000001
#   Actual altitude: 50.8211670000001
#   Commanded vehicle depth:764.350822 
#   Seafloor depth:-814.504219
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.16;
MB_Bottom_Detect_Filter_Max_Range = 203.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 816.932702 meters looking forward 100.000000 meters along route
#   Maximum depth: 832.248612 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 766.932702 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763353;
longitude = -121.975663;
captureRadius = 10;
duration = 101;
initialDepth = 782.279907;
finalDepth = 766.932702;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.153397
#   Actual altitude: 50.153397
#   Commanded vehicle depth:766.932702 
#   Seafloor depth:-816.932702
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.03;
MB_Bottom_Detect_Filter_Max_Range = 200.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 832.279907 meters looking forward 100.000000 meters along route
#   Maximum depth: 846.571074 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 782.279907 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762767;
longitude = -121.976526;
captureRadius = 10;
duration = 101;
initialDepth = 796.920910;
finalDepth = 782.279907;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:782.279907 
#   Seafloor depth:-832.279907
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 140
#   Segment length 101.572836 meters
#   Minimum depth: 846.920910 meters looking forward 100.000000 meters along route
#   Maximum depth: 854.029168 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.920910 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762161;
longitude = -121.977419;
captureRadius = 10;
duration = 101;
initialDepth = 802.146484;
finalDepth = 796.920910;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:796.92091 
#   Seafloor depth:-846.920910
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 139
#   Segment length 101.572836 meters
#   Minimum depth: 852.146484 meters looking forward 100.000000 meters along route
#   Maximum depth: 855.238120 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 802.146484 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761565;
longitude = -121.978297;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 805.363607;
finalDepth = 802.146484;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.937592
#   Actual altitude: 51.937592
#   Commanded vehicle depth:802.146484 
#   Seafloor depth:-854.084076
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.39;
MB_Bottom_Detect_Filter_Max_Range = 207.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 139
#   Segment length 101.572836 meters
#   Minimum depth: 855.363607 meters looking forward 100.000000 meters along route
#   Maximum depth: 857.532873 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 805.363607 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761282;
longitude = -121.978763;
captureRadius = 10;
duration = 101;
initialDepth = 804.450242;
finalDepth = 805.363607;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.937592
#   Actual altitude: 51.937592
#   Commanded vehicle depth:805.363607 
#   Seafloor depth:-855.500937
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.39;
MB_Bottom_Detect_Filter_Max_Range = 207.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 139
#   Segment length 101.572836 meters
#   Minimum depth: 854.450242 meters looking forward 100.000000 meters along route
#   Maximum depth: 857.364864 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.450242 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760738;
longitude = -121.979660;
captureRadius = 10;
duration = 101;
initialDepth = 806.224819;
finalDepth = 804.450242;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.895854
#   Actual altitude: 50.895854
#   Commanded vehicle depth:804.450242 
#   Seafloor depth:-855.346096
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.58;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 139
#   Segment length 101.572836 meters
#   Minimum depth: 856.224819 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.083613 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 806.224819 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760195;
longitude = -121.980556;
captureRadius = 10;
duration = 101;
initialDepth = 806.474001;
finalDepth = 806.224819;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.895854
#   Actual altitude: 50.895854
#   Commanded vehicle depth:806.224819 
#   Seafloor depth:-856.387082
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.58;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.58;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.58;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 138
#   Segment length 101.572836 meters
#   Minimum depth: 856.474001 meters looking forward 100.000000 meters along route
#   Maximum depth: 861.256042 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 806.474001 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759628;
longitude = -121.981490;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 791.904792;
finalDepth = 806.474001;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.7820409999999
#   Actual altitude: 54.7820409999999
#   Commanded vehicle depth:806.474001 
#   Seafloor depth:-861.256042
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 138
#   Segment length 101.572836 meters
#   Minimum depth: 841.904792 meters looking forward 100.000000 meters along route
#   Maximum depth: 859.261428 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 791.904792 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759810;
longitude = -121.981732;
captureRadius = 10;
duration = 101;
initialDepth = 795.208809;
finalDepth = 791.904792;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.356636
#   Actual altitude: 67.356636
#   Commanded vehicle depth:791.904792 
#   Seafloor depth:-859.261428
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 269.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.47;
MB_Bottom_Detect_Filter_Max_Range = 269.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 269.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 138
#   Segment length 101.572836 meters
#   Minimum depth: 845.208809 meters looking forward 100.000000 meters along route
#   Maximum depth: 875.967901 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 795.208809 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760424;
longitude = -121.982553;
captureRadius = 10;
duration = 101;
initialDepth = 803.349665;
finalDepth = 795.208809;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.356636
#   Actual altitude: 67.356636
#   Commanded vehicle depth:795.208809 
#   Seafloor depth:-845.208809
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 269.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.47;
MB_Bottom_Detect_Filter_Max_Range = 269.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 269.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 137
#   Segment length 101.572836 meters
#   Minimum depth: 853.349665 meters looking forward 100.000000 meters along route
#   Maximum depth: 876.641602 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.349665 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761040;
longitude = -121.983376;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 811.341949;
finalDepth = 803.349665;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 73.2919370000001
#   Actual altitude: 73.2919370000001
#   Commanded vehicle depth:803.349665 
#   Seafloor depth:-876.641602
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 293.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 14.66;
MB_Bottom_Detect_Filter_Max_Range = 293.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 293.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 137
#   Segment length 101.572836 meters
#   Minimum depth: 877.184473 meters looking forward 100.000000 meters along route
#   Maximum depth: 881.831251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 811.341949 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761280;
longitude = -121.983390;
captureRadius = 10;
duration = 101;
initialDepth = 832.021224;
finalDepth = 811.341949;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 73.2919370000001
#   Actual altitude: 73.2919370000001
#   Commanded vehicle depth:811.3419494 
#   Seafloor depth:-877.184473
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 293.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 14.66;
MB_Bottom_Detect_Filter_Max_Range = 293.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 293.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 137
#   Segment length 101.572836 meters
#   Minimum depth: 882.021224 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.667480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 832.021224 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762181;
longitude = -121.983440;
captureRadius = 10;
duration = 101;
initialDepth = 830.801333;
finalDepth = 832.021224;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.8425236
#   Actual altitude: 65.8425236
#   Commanded vehicle depth:832.021224 
#   Seafloor depth:-882.021224
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 263.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.17;
MB_Bottom_Detect_Filter_Max_Range = 263.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 263.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 137
#   Segment length 101.572836 meters
#   Minimum depth: 880.801333 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.717113 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.801333 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763082;
longitude = -121.983491;
captureRadius = 10;
duration = 101;
initialDepth = 830.312884;
finalDepth = 830.801333;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.50767
#   Actual altitude: 51.50767
#   Commanded vehicle depth:830.801333 
#   Seafloor depth:-882.309003
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 206.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 136
#   Segment length 101.572836 meters
#   Minimum depth: 880.312884 meters looking forward 100.000000 meters along route
#   Maximum depth: 882.290835 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.312884 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764014;
longitude = -121.983544;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 831.956195;
finalDepth = 830.312884;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.50767
#   Actual altitude: 51.50767
#   Commanded vehicle depth:830.312884 
#   Seafloor depth:-880.677094
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 206.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 136
#   Segment length 101.572836 meters
#   Minimum depth: 881.956195 meters looking forward 100.000000 meters along route
#   Maximum depth: 885.096397 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 831.956195 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764623;
longitude = -121.984085;
captureRadius = 10;
duration = 101;
initialDepth = 834.465410;
finalDepth = 831.956195;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.36421
#   Actual altitude: 50.36421
#   Commanded vehicle depth:831.956195 
#   Seafloor depth:-881.956195
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.07;
MB_Bottom_Detect_Filter_Max_Range = 201.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 136
#   Segment length 101.572836 meters
#   Minimum depth: 884.465410 meters looking forward 100.000000 meters along route
#   Maximum depth: 889.979495 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.465410 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.765380;
longitude = -121.984758;
captureRadius = 10;
duration = 101;
initialDepth = 838.721696;
finalDepth = 834.465410;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:834.46541 
#   Seafloor depth:-884.465410
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 135
#   Segment length 101.572836 meters
#   Minimum depth: 888.721696 meters looking forward 100.000000 meters along route
#   Maximum depth: 892.947588 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.721696 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766116;
longitude = -121.985411;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 842.963697;
finalDepth = 838.721696;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.327361
#   Actual altitude: 51.327361
#   Commanded vehicle depth:838.721696 
#   Seafloor depth:-890.049057
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.27;
MB_Bottom_Detect_Filter_Max_Range = 205.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 135
#   Segment length 101.572836 meters
#   Minimum depth: 892.963697 meters looking forward 100.000000 meters along route
#   Maximum depth: 900.990145 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 842.963697 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766644;
longitude = -121.985654;
captureRadius = 10;
duration = 101;
initialDepth = 851.010350;
finalDepth = 842.963697;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.327361
#   Actual altitude: 51.327361
#   Commanded vehicle depth:842.963697 
#   Seafloor depth:-892.963697
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.27;
MB_Bottom_Detect_Filter_Max_Range = 205.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 135
#   Segment length 101.572836 meters
#   Minimum depth: 901.010350 meters looking forward 100.000000 meters along route
#   Maximum depth: 905.903118 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 851.010350 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767498;
longitude = -121.986047;
captureRadius = 10;
duration = 101;
initialDepth = 855.964224;
finalDepth = 851.010350;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:851.01035 
#   Seafloor depth:-901.010350
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 135
#   Segment length 101.572836 meters
#   Minimum depth: 905.964224 meters looking forward 100.000000 meters along route
#   Maximum depth: 912.947732 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 855.964224 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.768355;
longitude = -121.986441;
captureRadius = 10;
duration = 101;
initialDepth = 862.274667;
finalDepth = 855.964224;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:855.964224 
#   Seafloor depth:-905.964224
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 134
#   Segment length 101.572836 meters
#   Minimum depth: 912.274667 meters looking forward 100.000000 meters along route
#   Maximum depth: 916.092969 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 862.274667 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769241;
longitude = -121.986849;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 866.140022;
finalDepth = 862.274667;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.977729
#   Actual altitude: 50.977729
#   Commanded vehicle depth:862.274667 
#   Seafloor depth:-913.252396
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.20;
MB_Bottom_Detect_Filter_Max_Range = 203.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 134
#   Segment length 101.572836 meters
#   Minimum depth: 916.140022 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.561777 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 866.140022 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769977;
longitude = -121.986943;
captureRadius = 10;
duration = 101;
initialDepth = 871.683178;
finalDepth = 866.140022;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.977729
#   Actual altitude: 50.977729
#   Commanded vehicle depth:866.140022 
#   Seafloor depth:-916.140022
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.20;
MB_Bottom_Detect_Filter_Max_Range = 203.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 134
#   Segment length 101.572836 meters
#   Minimum depth: 921.683178 meters looking forward 100.000000 meters along route
#   Maximum depth: 926.760850 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.683178 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770878;
longitude = -121.987059;
captureRadius = 10;
duration = 101;
initialDepth = 877.138142;
finalDepth = 871.683178;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:871.683178 
#   Seafloor depth:-921.683178
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 134
#   Segment length 101.572836 meters
#   Minimum depth: 927.138142 meters looking forward 100.000000 meters along route
#   Maximum depth: 928.253934 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.138142 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771779;
longitude = -121.987174;
captureRadius = 10;
duration = 101;
initialDepth = 877.486466;
finalDepth = 877.138142;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:877.138142 
#   Seafloor depth:-927.138142
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 134
#   Segment length 101.572836 meters
#   Minimum depth: 927.486466 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.251668 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.486466 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772680;
longitude = -121.987290;
captureRadius = 10;
duration = 101;
initialDepth = 877.486466;
finalDepth = 877.486466;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.628232
#   Actual altitude: 50.628232
#   Commanded vehicle depth:877.486466 
#   Seafloor depth:-928.114698
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 133
#   Segment length 101.572836 meters
#   Minimum depth: 927.486466 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.434900 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 877.486466 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773612;
longitude = -121.987409;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 878.908449;
finalDepth = 877.486466;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.8691550000001
#   Actual altitude: 51.8691550000001
#   Commanded vehicle depth:877.486466 
#   Seafloor depth:-929.355621
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 133
#   Segment length 101.572836 meters
#   Minimum depth: 929.531720 meters looking forward 100.000000 meters along route
#   Maximum depth: 935.540320 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 878.908449 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773642;
longitude = -121.987446;
captureRadius = 10;
duration = 101;
initialDepth = 885.726665;
finalDepth = 878.908449;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.8691550000001
#   Actual altitude: 51.8691550000001
#   Commanded vehicle depth:878.9084486 
#   Seafloor depth:-929.531720
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 133
#   Segment length 101.572836 meters
#   Minimum depth: 935.726665 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.697592 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 885.726665 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774303;
longitude = -121.988258;
captureRadius = 10;
duration = 101;
initialDepth = 886.159130;
finalDepth = 885.726665;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.6232713999999
#   Actual altitude: 50.6232713999999
#   Commanded vehicle depth:885.726665 
#   Seafloor depth:-935.726665
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 132
#   Segment length 101.572836 meters
#   Minimum depth: 936.159130 meters looking forward 100.000000 meters along route
#   Maximum depth: 941.896736 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 886.159130 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774948;
longitude = -121.989052;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 892.407135;
finalDepth = 886.159130;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.432758
#   Actual altitude: 55.432758
#   Commanded vehicle depth:886.15913 
#   Seafloor depth:-941.591888
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.09;
MB_Bottom_Detect_Filter_Max_Range = 221.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.572836 meters
#   Minimum depth: 942.407135 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.871498 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.407135 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774986;
longitude = -121.989407;
captureRadius = 10;
duration = 101;
initialDepth = 895.381508;
finalDepth = 892.407135;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.432758
#   Actual altitude: 55.432758
#   Commanded vehicle depth:892.407135 
#   Seafloor depth:-942.407135
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.09;
MB_Bottom_Detect_Filter_Max_Range = 221.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.572836 meters
#   Minimum depth: 945.381508 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.095537 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.381508 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775107;
longitude = -121.990527;
captureRadius = 10;
duration = 101;
initialDepth = 894.152846;
finalDepth = 895.381508;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.8208169999999
#   Actual altitude: 52.8208169999999
#   Commanded vehicle depth:895.381508 
#   Seafloor depth:-948.202325
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.572836 meters
#   Minimum depth: 944.152846 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.695557 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 894.152846 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775229;
longitude = -121.991648;
captureRadius = 10;
duration = 101;
initialDepth = 895.350946;
finalDepth = 894.152846;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.8208169999999
#   Actual altitude: 52.8208169999999
#   Commanded vehicle depth:894.152846 
#   Seafloor depth:-945.024209
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.572836 meters
#   Minimum depth: 945.350946 meters looking forward 100.000000 meters along route
#   Maximum depth: 950.624771 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.350946 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775350;
longitude = -121.992768;
captureRadius = 10;
duration = 101;
initialDepth = 892.680266;
finalDepth = 895.350946;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.8713630000001
#   Actual altitude: 50.8713630000001
#   Commanded vehicle depth:895.350946 
#   Seafloor depth:-945.350946
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.17;
MB_Bottom_Detect_Filter_Max_Range = 203.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 132
#   Segment length 101.572836 meters
#   Minimum depth: 942.680266 meters looking forward 100.000000 meters along route
#   Maximum depth: 948.203117 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.680266 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775471;
longitude = -121.993888;
captureRadius = 10;
duration = 101;
initialDepth = 892.680266;
finalDepth = 892.680266;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.055119
#   Actual altitude: 55.055119
#   Commanded vehicle depth:892.680266 
#   Seafloor depth:-947.735385
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.01;
MB_Bottom_Detect_Filter_Max_Range = 220.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 131
#   Segment length 101.572836 meters
#   Minimum depth: 942.680266 meters looking forward 100.000000 meters along route
#   Maximum depth: 949.146606 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 892.680266 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775594;
longitude = -121.995028;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 895.167589;
finalDepth = 892.680266;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.160036
#   Actual altitude: 56.160036
#   Commanded vehicle depth:892.680266 
#   Seafloor depth:-948.840302
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.23;
MB_Bottom_Detect_Filter_Max_Range = 224.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 101.572836 meters
#   Minimum depth: 950.804122 meters looking forward 100.000000 meters along route
#   Maximum depth: 959.532604 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 895.167589 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775594;
longitude = -121.995121;
captureRadius = 10;
duration = 101;
initialDepth = 909.679858;
finalDepth = 895.167589;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.160036
#   Actual altitude: 56.160036
#   Commanded vehicle depth:895.167589400001 
#   Seafloor depth:-950.804122
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.23;
MB_Bottom_Detect_Filter_Max_Range = 224.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 101.572836 meters
#   Minimum depth: 959.679858 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.382107 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 909.679858 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775591;
longitude = -121.996297;
captureRadius = 10;
duration = 101;
initialDepth = 912.386021;
finalDepth = 909.679858;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.6365325999994
#   Actual altitude: 55.6365325999994
#   Commanded vehicle depth:909.679858 
#   Seafloor depth:-959.679858
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.13;
MB_Bottom_Detect_Filter_Max_Range = 222.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 101.572836 meters
#   Minimum depth: 962.386021 meters looking forward 100.000000 meters along route
#   Maximum depth: 964.530812 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 912.386021 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775588;
longitude = -121.997474;
captureRadius = 10;
duration = 101;
initialDepth = 911.036479;
finalDepth = 912.386021;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:912.386021 
#   Seafloor depth:-962.386021
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 101.572836 meters
#   Minimum depth: 961.036479 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.687762 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 911.036479 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775585;
longitude = -121.998650;
captureRadius = 10;
duration = 101;
initialDepth = 911.302477;
finalDepth = 911.036479;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.651283
#   Actual altitude: 51.651283
#   Commanded vehicle depth:911.036479 
#   Seafloor depth:-962.687762
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 131
#   Segment length 101.572836 meters
#   Minimum depth: 961.302477 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.191152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 911.302477 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775582;
longitude = -121.999826;
captureRadius = 10;
duration = 101;
initialDepth = 910.375995;
finalDepth = 911.302477;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.651283
#   Actual altitude: 51.651283
#   Commanded vehicle depth:911.302477 
#   Seafloor depth:-961.381602
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 130
#   Segment length 101.572836 meters
#   Minimum depth: 960.375995 meters looking forward 100.000000 meters along route
#   Maximum depth: 962.157388 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 910.375995 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775579;
longitude = -122.000984;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 907.737971;
finalDepth = 910.375995;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.362042
#   Actual altitude: 51.362042
#   Commanded vehicle depth:910.375995 
#   Seafloor depth:-961.738037
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.27;
MB_Bottom_Detect_Filter_Max_Range = 205.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 130
#   Segment length 101.572836 meters
#   Minimum depth: 957.737971 meters looking forward 100.000000 meters along route
#   Maximum depth: 960.370578 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 907.737971 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775715;
longitude = -122.001731;
captureRadius = 10;
duration = 101;
initialDepth = 906.899983;
finalDepth = 907.737971;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.632607
#   Actual altitude: 52.632607
#   Commanded vehicle depth:907.737971 
#   Seafloor depth:-960.370578
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.53;
MB_Bottom_Detect_Filter_Max_Range = 210.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 130
#   Segment length 101.572836 meters
#   Minimum depth: 956.899983 meters looking forward 100.000000 meters along route
#   Maximum depth: 957.889249 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 906.899983 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775918;
longitude = -122.002851;
captureRadius = 10;
duration = 101;
initialDepth = 906.673520;
finalDepth = 906.899983;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.632607
#   Actual altitude: 52.632607
#   Commanded vehicle depth:906.899983 
#   Seafloor depth:-957.442894
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.53;
MB_Bottom_Detect_Filter_Max_Range = 210.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 130
#   Segment length 101.572836 meters
#   Minimum depth: 956.673520 meters looking forward 100.000000 meters along route
#   Maximum depth: 960.067870 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 906.673520 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776122;
longitude = -122.003972;
captureRadius = 10;
duration = 101;
initialDepth = 910.468942;
finalDepth = 906.673520;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.542911
#   Actual altitude: 50.542911
#   Commanded vehicle depth:906.67352 
#   Seafloor depth:-956.673520
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.11;
MB_Bottom_Detect_Filter_Max_Range = 202.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 130
#   Segment length 101.572836 meters
#   Minimum depth: 960.468942 meters looking forward 100.000000 meters along route
#   Maximum depth: 965.575287 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 910.468942 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776326;
longitude = -122.005092;
captureRadius = 10;
duration = 101;
initialDepth = 912.378290;
finalDepth = 910.468942;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:910.468942 
#   Seafloor depth:-960.468942
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 129
#   Segment length 101.572836 meters
#   Minimum depth: 962.378290 meters looking forward 100.000000 meters along route
#   Maximum depth: 966.655041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 912.378290 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776526;
longitude = -122.006194;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 915.728499;
finalDepth = 912.378290;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.087149
#   Actual altitude: 53.087149
#   Commanded vehicle depth:912.37829 
#   Seafloor depth:-965.465439
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.35;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 129
#   Segment length 101.572836 meters
#   Minimum depth: 965.728499 meters looking forward 100.000000 meters along route
#   Maximum depth: 973.530347 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 915.728499 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776691;
longitude = -122.006389;
captureRadius = 10;
duration = 101;
initialDepth = 923.785320;
finalDepth = 915.728499;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.087149
#   Actual altitude: 53.087149
#   Commanded vehicle depth:915.728499 
#   Seafloor depth:-966.497749
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.35;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 129
#   Segment length 101.572836 meters
#   Minimum depth: 973.785320 meters looking forward 100.000000 meters along route
#   Maximum depth: 984.005496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 923.785320 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777367;
longitude = -122.007187;
captureRadius = 10;
duration = 101;
initialDepth = 928.872398;
finalDepth = 923.785320;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.7692499999999
#   Actual altitude: 50.7692499999999
#   Commanded vehicle depth:923.78532 
#   Seafloor depth:-973.785320
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.15;
MB_Bottom_Detect_Filter_Max_Range = 203.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 128
#   Segment length 101.572836 meters
#   Minimum depth: 978.872398 meters looking forward 100.000000 meters along route
#   Maximum depth: 988.618251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 928.872398 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778028;
longitude = -122.007968;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 939.112626;
finalDepth = 928.872398;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.415062
#   Actual altitude: 55.415062
#   Commanded vehicle depth:928.872398 
#   Seafloor depth:-984.287460
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.66;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.66;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 128
#   Segment length 101.572836 meters
#   Minimum depth: 989.112626 meters looking forward 100.000000 meters along route
#   Maximum depth: 999.470275 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.112626 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778289;
longitude = -122.008285;
captureRadius = 10;
duration = 101;
initialDepth = 949.967904;
finalDepth = 939.112626;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.415062
#   Actual altitude: 55.415062
#   Commanded vehicle depth:939.112626 
#   Seafloor depth:-989.112626
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.66;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.66;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 128
#   Segment length 101.572836 meters
#   Minimum depth: 999.967904 meters looking forward 100.000000 meters along route
#   Maximum depth: 1002.970403 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 949.967904 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778932;
longitude = -122.009070;
captureRadius = 10;
duration = 101;
initialDepth = 952.973745;
finalDepth = 949.967904;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:949.967904 
#   Seafloor depth:-999.967904
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 128
#   Segment length 101.572836 meters
#   Minimum depth: 1002.973745 meters looking forward 100.000000 meters along route
#   Maximum depth: 1004.253785 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 952.973745 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779576;
longitude = -122.009854;
captureRadius = 10;
duration = 101;
initialDepth = 953.331832;
finalDepth = 952.973745;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:952.973745 
#   Seafloor depth:-1002.973745
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 127
#   Segment length 101.572836 meters
#   Minimum depth: 1003.331832 meters looking forward 100.000000 meters along route
#   Maximum depth: 1004.253785 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 953.331832 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780236;
longitude = -122.010657;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 954.076849;
finalDepth = 953.331832;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.37143
#   Actual altitude: 50.37143
#   Commanded vehicle depth:953.331832 
#   Seafloor depth:-1003.703262
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.07;
MB_Bottom_Detect_Filter_Max_Range = 201.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 127
#   Segment length 101.572836 meters
#   Minimum depth: 1004.076849 meters looking forward 100.000000 meters along route
#   Maximum depth: 1008.417946 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 954.076849 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780296;
longitude = -122.010828;
captureRadius = 10;
duration = 101;
initialDepth = 956.888208;
finalDepth = 954.076849;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.37143
#   Actual altitude: 50.37143
#   Commanded vehicle depth:954.076849 
#   Seafloor depth:-1004.237299
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.07;
MB_Bottom_Detect_Filter_Max_Range = 201.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 127
#   Segment length 101.572836 meters
#   Minimum depth: 1006.888208 meters looking forward 100.000000 meters along route
#   Maximum depth: 1008.082833 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 956.888208 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780656;
longitude = -122.011857;
captureRadius = 10;
duration = 101;
initialDepth = 956.983172;
finalDepth = 956.888208;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1946250000001
#   Actual altitude: 51.1946250000001
#   Commanded vehicle depth:956.888208 
#   Seafloor depth:-1008.082833
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 127
#   Segment length 101.572836 meters
#   Minimum depth: 1006.983172 meters looking forward 100.000000 meters along route
#   Maximum depth: 1012.950440 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 956.983172 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781017;
longitude = -122.012887;
captureRadius = 10;
duration = 101;
initialDepth = 963.182035;
finalDepth = 956.983172;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1946250000001
#   Actual altitude: 51.1946250000001
#   Commanded vehicle depth:956.983172 
#   Seafloor depth:-1006.983172
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 127
#   Segment length 101.572836 meters
#   Minimum depth: 1013.182035 meters looking forward 100.000000 meters along route
#   Maximum depth: 1019.397887 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 963.182035 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781387;
longitude = -122.013943;
captureRadius = 10;
duration = 101;
initialDepth = 967.566509;
finalDepth = 963.182035;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:963.182035 
#   Seafloor depth:-1013.182035
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 126
#   Segment length 101.572836 meters
#   Minimum depth: 1017.566509 meters looking forward 100.000000 meters along route
#   Maximum depth: 1022.104580 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 967.566509 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781753;
longitude = -122.014989;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 972.263509;
finalDepth = 967.566509;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.011631
#   Actual altitude: 52.011631
#   Commanded vehicle depth:967.566509 
#   Seafloor depth:-1019.578140
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.40;
MB_Bottom_Detect_Filter_Max_Range = 208.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 126
#   Segment length 101.572836 meters
#   Minimum depth: 1022.263509 meters looking forward 100.000000 meters along route
#   Maximum depth: 1023.767097 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 972.263509 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781987;
longitude = -122.015456;
captureRadius = 10;
duration = 101;
initialDepth = 973.789012;
finalDepth = 972.263509;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.011631
#   Actual altitude: 52.011631
#   Commanded vehicle depth:972.263509 
#   Seafloor depth:-1022.263509
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.40;
MB_Bottom_Detect_Filter_Max_Range = 208.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 126
#   Segment length 101.572836 meters
#   Minimum depth: 1023.789012 meters looking forward 100.000000 meters along route
#   Maximum depth: 1027.199507 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 973.789012 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782465;
longitude = -122.016408;
captureRadius = 10;
duration = 101;
initialDepth = 977.430527;
finalDepth = 973.789012;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:973.789012 
#   Seafloor depth:-1023.789012
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 126
#   Segment length 101.572836 meters
#   Minimum depth: 1027.430527 meters looking forward 100.000000 meters along route
#   Maximum depth: 1029.128799 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 977.430527 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782942;
longitude = -122.017360;
captureRadius = 10;
duration = 101;
initialDepth = 978.442148;
finalDepth = 977.430527;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:977.430527 
#   Seafloor depth:-1027.430527
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 126
#   Segment length 101.572836 meters
#   Minimum depth: 1028.442148 meters looking forward 100.000000 meters along route
#   Maximum depth: 1029.089182 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 978.442148 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783420;
longitude = -122.018313;
captureRadius = 10;
duration = 101;
initialDepth = 978.442148;
finalDepth = 978.442148;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.506983
#   Actual altitude: 50.506983
#   Commanded vehicle depth:978.442148 
#   Seafloor depth:-1028.949131
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.10;
MB_Bottom_Detect_Filter_Max_Range = 202.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# Acoustic update - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 125
#   Segment length 101.572836 meters
#   Minimum depth: 1028.442148 meters looking forward 100.000000 meters along route
#   Maximum depth: 1030.163490 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 978.442148 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783916;
longitude = -122.019302;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 979.649142;
finalDepth = 978.442148;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.5782379999998
#   Actual altitude: 50.5782379999998
#   Commanded vehicle depth:978.442148 
#   Seafloor depth:-1029.020386
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 125
#   Segment length 101.572836 meters
#   Minimum depth: 1029.649142 meters looking forward 100.000000 meters along route
#   Maximum depth: 1030.586157 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 979.649142 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783703;
longitude = -122.019489;
captureRadius = 10;
duration = 101;
initialDepth = 960.042743;
finalDepth = 979.649142;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.5782379999998
#   Actual altitude: 50.5782379999998
#   Commanded vehicle depth:979.649142 
#   Seafloor depth:-1030.212294
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 125
#   Segment length 101.572836 meters
#   Minimum depth: 1010.042743 meters looking forward 100.000000 meters along route
#   Maximum depth: 1029.339980 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 960.042743 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782954;
longitude = -122.020148;
captureRadius = 10;
duration = 101;
initialDepth = 956.245091;
finalDepth = 960.042743;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.297237
#   Actual altitude: 69.297237
#   Commanded vehicle depth:960.042743 
#   Seafloor depth:-1029.339980
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 277.19;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.86;
MB_Bottom_Detect_Filter_Max_Range = 277.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 277.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# Acoustic update - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 124
#   Segment length 101.572836 meters
#   Minimum depth: 1006.245091 meters looking forward 100.000000 meters along route
#   Maximum depth: 1010.298519 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 956.245091 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782218;
longitude = -122.020796;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 957.304941;
finalDepth = 956.245091;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 69.297237
#   Actual altitude: 69.297237
#   Commanded vehicle depth:956.245091 
#   Seafloor depth:-1008.880035
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 277.19;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.86;
MB_Bottom_Detect_Filter_Max_Range = 277.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 277.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 124
#   Segment length 101.572836 meters
#   Minimum depth: 1007.304941 meters looking forward 100.000000 meters along route
#   Maximum depth: 1012.194894 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 957.304941 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781709;
longitude = -122.019937;
captureRadius = 10;
duration = 101;
initialDepth = 957.534834;
finalDepth = 957.304941;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.634944
#   Actual altitude: 52.634944
#   Commanded vehicle depth:957.304941 
#   Seafloor depth:-1007.304941
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.53;
MB_Bottom_Detect_Filter_Max_Range = 210.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 123
#   Segment length 101.572836 meters
#   Minimum depth: 1007.534834 meters looking forward 100.000000 meters along route
#   Maximum depth: 1012.524963 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 957.534834 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781167;
longitude = -122.019022;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 958.539808;
finalDepth = 957.534834;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.9901289999999
#   Actual altitude: 54.9901289999999
#   Commanded vehicle depth:957.534834 
#   Seafloor depth:-1012.524963
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.00;
MB_Bottom_Detect_Filter_Max_Range = 219.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 123
#   Segment length 101.572836 meters
#   Minimum depth: 1010.483332 meters looking forward 100.000000 meters along route
#   Maximum depth: 1013.621821 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 958.539808 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781152;
longitude = -122.018989;
captureRadius = 10;
duration = 101;
initialDepth = 951.906439;
finalDepth = 958.539808;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.9901289999999
#   Actual altitude: 54.9901289999999
#   Commanded vehicle depth:958.5398085 
#   Seafloor depth:-1012.491264
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.00;
MB_Bottom_Detect_Filter_Max_Range = 219.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 123
#   Segment length 101.572836 meters
#   Minimum depth: 1001.906439 meters looking forward 100.000000 meters along route
#   Maximum depth: 1010.357148 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 951.906439 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780701;
longitude = -122.018016;
captureRadius = 10;
duration = 101;
initialDepth = 947.369398;
finalDepth = 951.906439;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.4507090000001
#   Actual altitude: 58.4507090000001
#   Commanded vehicle depth:951.906439 
#   Seafloor depth:-1010.357148
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 233.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.69;
MB_Bottom_Detect_Filter_Max_Range = 233.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 233.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 123
#   Segment length 101.572836 meters
#   Minimum depth: 997.369398 meters looking forward 100.000000 meters along route
#   Maximum depth: 1001.774529 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.369398 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780243;
longitude = -122.017024;
captureRadius = 10;
duration = 101;
initialDepth = 947.369398;
finalDepth = 947.369398;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.4507090000001
#   Actual altitude: 58.4507090000001
#   Commanded vehicle depth:947.369398 
#   Seafloor depth:-1001.774529
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 233.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.69;
MB_Bottom_Detect_Filter_Max_Range = 233.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 233.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 122
#   Segment length 101.572836 meters
#   Minimum depth: 997.369398 meters looking forward 100.000000 meters along route
#   Maximum depth: 999.026186 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 947.369398 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779785;
longitude = -122.016035;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 949.103995;
finalDepth = 947.369398;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.405131
#   Actual altitude: 54.405131
#   Commanded vehicle depth:947.369398 
#   Seafloor depth:-997.601349
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.88;
MB_Bottom_Detect_Filter_Max_Range = 217.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 122
#   Segment length 101.572836 meters
#   Minimum depth: 999.103995 meters looking forward 100.000000 meters along route
#   Maximum depth: 1005.572334 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 949.103995 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779522;
longitude = -122.015512;
captureRadius = 10;
duration = 101;
initialDepth = 955.658443;
finalDepth = 949.103995;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.231951
#   Actual altitude: 50.231951
#   Commanded vehicle depth:949.103995 
#   Seafloor depth:-999.103995
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.93;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.05;
MB_Bottom_Detect_Filter_Max_Range = 200.93;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.93;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 122
#   Segment length 101.572836 meters
#   Minimum depth: 1005.658443 meters looking forward 100.000000 meters along route
#   Maximum depth: 1008.218346 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 955.658443 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779034;
longitude = -122.014543;
captureRadius = 10;
duration = 101;
initialDepth = 956.434272;
finalDepth = 955.658443;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:955.658443 
#   Seafloor depth:-1005.658443
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 121
#   Segment length 101.572836 meters
#   Minimum depth: 1006.434272 meters looking forward 100.000000 meters along route
#   Maximum depth: 1008.440858 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 956.434272 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778553;
longitude = -122.013588;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 957.637177;
finalDepth = 956.434272;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.881707
#   Actual altitude: 51.881707
#   Commanded vehicle depth:956.434272 
#   Seafloor depth:-1008.315979
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 101.572836 meters
#   Minimum depth: 1007.637177 meters looking forward 100.000000 meters along route
#   Maximum depth: 1008.428516 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 957.637177 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778501;
longitude = -122.013383;
captureRadius = 10;
duration = 101;
initialDepth = 956.405671;
finalDepth = 957.637177;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.881707
#   Actual altitude: 51.881707
#   Commanded vehicle depth:957.637177 
#   Seafloor depth:-1008.428516
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 101.572836 meters
#   Minimum depth: 1006.405671 meters looking forward 100.000000 meters along route
#   Maximum depth: 1008.147236 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 956.405671 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778223;
longitude = -122.012288;
captureRadius = 10;
duration = 101;
initialDepth = 954.970973;
finalDepth = 956.405671;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.258197
#   Actual altitude: 51.258197
#   Commanded vehicle depth:956.405671 
#   Seafloor depth:-1007.663868
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.25;
MB_Bottom_Detect_Filter_Max_Range = 205.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 121
#   Segment length 101.572836 meters
#   Minimum depth: 1004.970973 meters looking forward 100.000000 meters along route
#   Maximum depth: 1006.494367 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 954.970973 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777946;
longitude = -122.011198;
captureRadius = 10;
duration = 101;
initialDepth = 954.493584;
finalDepth = 954.970973;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.4242810000001
#   Actual altitude: 51.4242810000001
#   Commanded vehicle depth:954.970973 
#   Seafloor depth:-1006.395254
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.28;
MB_Bottom_Detect_Filter_Max_Range = 205.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 120
#   Segment length 101.572836 meters
#   Minimum depth: 1004.493584 meters looking forward 100.000000 meters along route
#   Maximum depth: 1006.494367 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 954.493584 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777667;
longitude = -122.010097;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 952.955995;
finalDepth = 954.493584;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.4242810000001
#   Actual altitude: 51.4242810000001
#   Commanded vehicle depth:954.493584 
#   Seafloor depth:-1004.841614
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.28;
MB_Bottom_Detect_Filter_Max_Range = 205.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 101.572836 meters
#   Minimum depth: 1002.955995 meters looking forward 100.000000 meters along route
#   Maximum depth: 1004.383612 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 952.955995 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777592;
longitude = -122.009997;
captureRadius = 10;
duration = 101;
initialDepth = 949.027568;
finalDepth = 952.955995;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.4276169999999
#   Actual altitude: 51.4276169999999
#   Commanded vehicle depth:952.955995 
#   Seafloor depth:-1004.383612
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.29;
MB_Bottom_Detect_Filter_Max_Range = 205.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 101.572836 meters
#   Minimum depth: 999.027568 meters looking forward 100.000000 meters along route
#   Maximum depth: 1002.853332 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 949.027568 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776961;
longitude = -122.009152;
captureRadius = 10;
duration = 101;
initialDepth = 939.597688;
finalDepth = 949.027568;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.825764
#   Actual altitude: 53.825764
#   Commanded vehicle depth:949.027568 
#   Seafloor depth:-1002.853332
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.77;
MB_Bottom_Detect_Filter_Max_Range = 215.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 120
#   Segment length 101.572836 meters
#   Minimum depth: 989.597688 meters looking forward 100.000000 meters along route
#   Maximum depth: 998.677879 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 939.597688 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776330;
longitude = -122.008306;
captureRadius = 10;
duration = 101;
initialDepth = 937.796945;
finalDepth = 939.597688;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.080191
#   Actual altitude: 59.080191
#   Commanded vehicle depth:939.597688 
#   Seafloor depth:-998.677879
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 236.32;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.82;
MB_Bottom_Detect_Filter_Max_Range = 236.32;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 236.32;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 119
#   Segment length 101.572836 meters
#   Minimum depth: 987.796945 meters looking forward 100.000000 meters along route
#   Maximum depth: 995.609488 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 937.796945 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775715;
longitude = -122.007482;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 934.851276;
finalDepth = 937.796945;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.080191
#   Actual altitude: 59.080191
#   Commanded vehicle depth:937.796945 
#   Seafloor depth:-989.305420
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 236.32;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.82;
MB_Bottom_Detect_Filter_Max_Range = 236.32;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 236.32;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 101.572836 meters
#   Minimum depth: 984.851276 meters looking forward 100.000000 meters along route
#   Maximum depth: 987.600831 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 934.851276 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775640;
longitude = -122.007221;
captureRadius = 10;
duration = 101;
initialDepth = 933.040916;
finalDepth = 934.851276;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.749555
#   Actual altitude: 52.749555
#   Commanded vehicle depth:934.851276 
#   Seafloor depth:-987.600831
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 101.572836 meters
#   Minimum depth: 983.040916 meters looking forward 100.000000 meters along route
#   Maximum depth: 984.806404 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 933.040916 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775336;
longitude = -122.006157;
captureRadius = 10;
duration = 101;
initialDepth = 931.154812;
finalDepth = 933.040916;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.749555
#   Actual altitude: 52.749555
#   Commanded vehicle depth:933.040916 
#   Seafloor depth:-984.806404
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 211.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 119
#   Segment length 101.572836 meters
#   Minimum depth: 981.154812 meters looking forward 100.000000 meters along route
#   Maximum depth: 983.885068 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 931.154812 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775032;
longitude = -122.005092;
captureRadius = 10;
duration = 101;
initialDepth = 930.378428;
finalDepth = 931.154812;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.7302560000001
#   Actual altitude: 52.7302560000001
#   Commanded vehicle depth:931.154812 
#   Seafloor depth:-983.885068
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.92;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 210.92;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 118
#   Segment length 101.572836 meters
#   Minimum depth: 980.378428 meters looking forward 100.000000 meters along route
#   Maximum depth: 981.725405 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 930.378428 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774723;
longitude = -122.004009;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 928.899470;
finalDepth = 930.378428;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.7302560000001
#   Actual altitude: 52.7302560000001
#   Commanded vehicle depth:930.378428 
#   Seafloor depth:-981.543243
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.92;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 210.92;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 101.572836 meters
#   Minimum depth: 978.899470 meters looking forward 100.000000 meters along route
#   Maximum depth: 980.674868 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 928.899470 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774653;
longitude = -122.003188;
captureRadius = 10;
duration = 101;
initialDepth = 924.658353;
finalDepth = 928.899470;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.775398
#   Actual altitude: 51.775398
#   Commanded vehicle depth:928.89947 
#   Seafloor depth:-980.674868
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.36;
MB_Bottom_Detect_Filter_Max_Range = 207.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 101.572836 meters
#   Minimum depth: 974.658353 meters looking forward 100.000000 meters along route
#   Maximum depth: 978.602138 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 924.658353 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774557;
longitude = -122.002067;
captureRadius = 10;
duration = 101;
initialDepth = 922.224283;
finalDepth = 924.658353;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.9437849999999
#   Actual altitude: 53.9437849999999
#   Commanded vehicle depth:924.658353 
#   Seafloor depth:-978.602138
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 118
#   Segment length 101.572836 meters
#   Minimum depth: 972.224283 meters looking forward 100.000000 meters along route
#   Maximum depth: 974.528387 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 922.224283 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774461;
longitude = -122.000947;
captureRadius = 10;
duration = 101;
initialDepth = 920.023354;
finalDepth = 922.224283;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.9437849999999
#   Actual altitude: 53.9437849999999
#   Commanded vehicle depth:922.224283 
#   Seafloor depth:-974.528387
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 117
#   Segment length 101.572836 meters
#   Minimum depth: 970.023354 meters looking forward 100.000000 meters along route
#   Maximum depth: 972.681206 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 920.023354 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774363;
longitude = -121.999808;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 916.139609;
finalDepth = 920.023354;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.3041039999999
#   Actual altitude: 52.3041039999999
#   Commanded vehicle depth:920.023354 
#   Seafloor depth:-972.164581
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.46;
MB_Bottom_Detect_Filter_Max_Range = 209.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 101.572836 meters
#   Minimum depth: 966.139609 meters looking forward 100.000000 meters along route
#   Maximum depth: 969.759178 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 916.139609 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774319;
longitude = -121.998986;
captureRadius = 10;
duration = 101;
initialDepth = 914.440805;
finalDepth = 916.139609;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.6195690000001
#   Actual altitude: 53.6195690000001
#   Commanded vehicle depth:916.139609 
#   Seafloor depth:-969.759178
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.72;
MB_Bottom_Detect_Filter_Max_Range = 214.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 101.572836 meters
#   Minimum depth: 964.440805 meters looking forward 100.000000 meters along route
#   Maximum depth: 966.028904 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 914.440805 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774259;
longitude = -121.997866;
captureRadius = 10;
duration = 101;
initialDepth = 911.705427;
finalDepth = 914.440805;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.6195690000001
#   Actual altitude: 53.6195690000001
#   Commanded vehicle depth:914.440805 
#   Seafloor depth:-966.028904
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.72;
MB_Bottom_Detect_Filter_Max_Range = 214.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 117
#   Segment length 101.572836 meters
#   Minimum depth: 961.705427 meters looking forward 100.000000 meters along route
#   Maximum depth: 964.619045 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 911.705427 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774198;
longitude = -121.996745;
captureRadius = 10;
duration = 101;
initialDepth = 911.073789;
finalDepth = 911.705427;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.860277
#   Actual altitude: 52.860277
#   Commanded vehicle depth:911.705427 
#   Seafloor depth:-964.565704
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 116
#   Segment length 101.572836 meters
#   Minimum depth: 961.073789 meters looking forward 100.000000 meters along route
#   Maximum depth: 964.342263 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 911.073789 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774137;
longitude = -121.995606;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 904.592153;
finalDepth = 911.073789;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.860277
#   Actual altitude: 52.860277
#   Commanded vehicle depth:911.073789 
#   Seafloor depth:-961.576218
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 101.572836 meters
#   Minimum depth: 954.592153 meters looking forward 100.000000 meters along route
#   Maximum depth: 960.809610 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 904.592153 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774131;
longitude = -121.995457;
captureRadius = 10;
duration = 101;
initialDepth = 903.412833;
finalDepth = 904.592153;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.217457
#   Actual altitude: 56.217457
#   Commanded vehicle depth:904.592153 
#   Seafloor depth:-960.809610
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.87;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.24;
MB_Bottom_Detect_Filter_Max_Range = 224.87;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.87;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 101.572836 meters
#   Minimum depth: 953.412833 meters looking forward 100.000000 meters along route
#   Maximum depth: 955.020752 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 903.412833 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774088;
longitude = -121.994337;
captureRadius = 10;
duration = 101;
initialDepth = 897.308003;
finalDepth = 903.412833;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.217457
#   Actual altitude: 56.217457
#   Commanded vehicle depth:903.412833 
#   Seafloor depth:-954.489004
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.87;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.24;
MB_Bottom_Detect_Filter_Max_Range = 224.87;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.87;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 101.572836 meters
#   Minimum depth: 947.308003 meters looking forward 100.000000 meters along route
#   Maximum depth: 952.941391 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 897.308003 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774044;
longitude = -121.993216;
captureRadius = 10;
duration = 101;
initialDepth = 893.834088;
finalDepth = 897.308003;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.633388
#   Actual altitude: 55.633388
#   Commanded vehicle depth:897.308003 
#   Seafloor depth:-952.941391
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.13;
MB_Bottom_Detect_Filter_Max_Range = 222.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 116
#   Segment length 101.572836 meters
#   Minimum depth: 943.834088 meters looking forward 100.000000 meters along route
#   Maximum depth: 947.900212 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 893.834088 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774001;
longitude = -121.992096;
captureRadius = 10;
duration = 101;
initialDepth = 884.169730;
finalDepth = 893.834088;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.633388
#   Actual altitude: 55.633388
#   Commanded vehicle depth:893.834088 
#   Seafloor depth:-947.684625
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.53;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.13;
MB_Bottom_Detect_Filter_Max_Range = 222.53;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.53;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 115
#   Segment length 101.572836 meters
#   Minimum depth: 934.169730 meters looking forward 100.000000 meters along route
#   Maximum depth: 945.772645 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 884.169730 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773957;
longitude = -121.990957;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 882.825488;
finalDepth = 884.169730;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.825723
#   Actual altitude: 59.825723
#   Commanded vehicle depth:884.16973 
#   Seafloor depth:-943.995453
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 239.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.97;
MB_Bottom_Detect_Filter_Max_Range = 239.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 239.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 115
#   Segment length 101.572836 meters
#   Minimum depth: 932.825488 meters looking forward 100.000000 meters along route
#   Maximum depth: 934.462357 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.825488 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773575;
longitude = -121.990359;
captureRadius = 10;
duration = 101;
initialDepth = 882.201692;
finalDepth = 882.825488;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.825723
#   Actual altitude: 59.825723
#   Commanded vehicle depth:882.825488 
#   Seafloor depth:-934.145967
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 239.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.97;
MB_Bottom_Detect_Filter_Max_Range = 239.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 239.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 115
#   Segment length 101.572836 meters
#   Minimum depth: 932.201692 meters looking forward 100.000000 meters along route
#   Maximum depth: 933.342004 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 882.201692 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773002;
longitude = -121.989463;
captureRadius = 10;
duration = 101;
initialDepth = 880.148977;
finalDepth = 882.201692;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.3204790000001
#   Actual altitude: 51.3204790000001
#   Commanded vehicle depth:882.201692 
#   Seafloor depth:-933.342004
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.26;
MB_Bottom_Detect_Filter_Max_Range = 205.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 114
#   Segment length 101.572836 meters
#   Minimum depth: 930.148977 meters looking forward 100.000000 meters along route
#   Maximum depth: 932.946790 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 880.148977 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772440;
longitude = -121.988585;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 875.511436;
finalDepth = 880.148977;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.730143
#   Actual altitude: 52.730143
#   Commanded vehicle depth:880.148977 
#   Seafloor depth:-932.879120
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.92;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.55;
MB_Bottom_Detect_Filter_Max_Range = 210.92;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 101.572836 meters
#   Minimum depth: 925.511436 meters looking forward 100.000000 meters along route
#   Maximum depth: 929.718669 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 875.511436 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772050;
longitude = -121.988486;
captureRadius = 10;
duration = 101;
initialDepth = 872.180759;
finalDepth = 875.511436;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.207233
#   Actual altitude: 54.207233
#   Commanded vehicle depth:875.511436 
#   Seafloor depth:-929.718669
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.83;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 114
#   Segment length 101.572836 meters
#   Minimum depth: 922.180759 meters looking forward 100.000000 meters along route
#   Maximum depth: 925.288551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 872.180759 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771148;
longitude = -121.988257;
captureRadius = 10;
duration = 101;
initialDepth = 871.933701;
finalDepth = 872.180759;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.207233
#   Actual altitude: 54.207233
#   Commanded vehicle depth:872.180759 
#   Seafloor depth:-925.288551
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.83;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.83;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.83;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 113
#   Segment length 101.572836 meters
#   Minimum depth: 921.933701 meters looking forward 100.000000 meters along route
#   Maximum depth: 924.819612 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 871.933701 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770232;
longitude = -121.988025;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 866.624498;
finalDepth = 871.933701;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.107792
#   Actual altitude: 53.107792
#   Commanded vehicle depth:871.933701 
#   Seafloor depth:-921.933701
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 101.572836 meters
#   Minimum depth: 916.624498 meters looking forward 100.000000 meters along route
#   Maximum depth: 921.929729 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 866.624498 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770202;
longitude = -121.988024;
captureRadius = 10;
duration = 101;
initialDepth = 859.209266;
finalDepth = 866.624498;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.3052309999999
#   Actual altitude: 55.3052309999999
#   Commanded vehicle depth:866.624498 
#   Seafloor depth:-921.929729
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.06;
MB_Bottom_Detect_Filter_Max_Range = 221.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 113
#   Segment length 101.572836 meters
#   Minimum depth: 909.209266 meters looking forward 100.000000 meters along route
#   Maximum depth: 916.487240 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 859.209266 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769256;
longitude = -121.988006;
captureRadius = 10;
duration = 101;
initialDepth = 858.318331;
finalDepth = 859.209266;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.2779740000001
#   Actual altitude: 57.2779740000001
#   Commanded vehicle depth:859.209266 
#   Seafloor depth:-916.487240
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.46;
MB_Bottom_Detect_Filter_Max_Range = 229.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 112
#   Segment length 101.572836 meters
#   Minimum depth: 908.318331 meters looking forward 100.000000 meters along route
#   Maximum depth: 914.326418 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 858.318331 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.768324;
longitude = -121.987988;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 854.359766;
finalDepth = 858.318331;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.2779740000001
#   Actual altitude: 57.2779740000001
#   Commanded vehicle depth:858.318331 
#   Seafloor depth:-909.141373
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.46;
MB_Bottom_Detect_Filter_Max_Range = 229.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 101.572836 meters
#   Minimum depth: 904.359766 meters looking forward 100.000000 meters along route
#   Maximum depth: 908.285606 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 854.359766 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.768129;
longitude = -121.987949;
captureRadius = 10;
duration = 101;
initialDepth = 849.912461;
finalDepth = 854.359766;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.92584
#   Actual altitude: 53.92584
#   Commanded vehicle depth:854.359766 
#   Seafloor depth:-908.285606
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 101.572836 meters
#   Minimum depth: 899.912461 meters looking forward 100.000000 meters along route
#   Maximum depth: 904.230547 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 849.912461 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767228;
longitude = -121.987770;
captureRadius = 10;
duration = 101;
initialDepth = 846.612195;
finalDepth = 849.912461;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.318086
#   Actual altitude: 54.318086
#   Commanded vehicle depth:849.912461 
#   Seafloor depth:-904.230547
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.86;
MB_Bottom_Detect_Filter_Max_Range = 217.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 112
#   Segment length 101.572836 meters
#   Minimum depth: 896.612195 meters looking forward 100.000000 meters along route
#   Maximum depth: 899.720208 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 846.612195 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766327;
longitude = -121.987591;
captureRadius = 10;
duration = 101;
initialDepth = 845.452728;
finalDepth = 846.612195;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.318086
#   Actual altitude: 54.318086
#   Commanded vehicle depth:846.612195 
#   Seafloor depth:-899.720208
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.27;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.86;
MB_Bottom_Detect_Filter_Max_Range = 217.27;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.27;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 111
#   Segment length 101.572836 meters
#   Minimum depth: 895.452728 meters looking forward 100.000000 meters along route
#   Maximum depth: 897.279299 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 845.452728 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.765411;
longitude = -121.987409;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 844.394167;
finalDepth = 845.452728;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.1080129999999
#   Actual altitude: 53.1080129999999
#   Commanded vehicle depth:845.452728 
#   Seafloor depth:-897.063400
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 111
#   Segment length 101.572836 meters
#   Minimum depth: 894.394167 meters looking forward 100.000000 meters along route
#   Maximum depth: 895.322792 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 844.394167 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764930;
longitude = -121.987247;
captureRadius = 10;
duration = 101;
initialDepth = 842.164735;
finalDepth = 844.394167;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.610672
#   Actual altitude: 51.610672
#   Commanded vehicle depth:844.394167 
#   Seafloor depth:-895.322792
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.32;
MB_Bottom_Detect_Filter_Max_Range = 206.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 111
#   Segment length 101.572836 meters
#   Minimum depth: 892.164735 meters looking forward 100.000000 meters along route
#   Maximum depth: 894.593731 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 842.164735 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764028;
longitude = -121.986942;
captureRadius = 10;
duration = 101;
initialDepth = 841.935885;
finalDepth = 842.164735;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.4289960000001
#   Actual altitude: 52.4289960000001
#   Commanded vehicle depth:842.164735 
#   Seafloor depth:-894.593731
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.49;
MB_Bottom_Detect_Filter_Max_Range = 209.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 110
#   Segment length 101.572836 meters
#   Minimum depth: 891.935885 meters looking forward 100.000000 meters along route
#   Maximum depth: 894.175416 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 841.935885 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763142;
longitude = -121.986643;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 838.517143;
finalDepth = 841.935885;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.4289960000001
#   Actual altitude: 52.4289960000001
#   Commanded vehicle depth:841.935885 
#   Seafloor depth:-892.136124
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.49;
MB_Bottom_Detect_Filter_Max_Range = 209.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 110
#   Segment length 101.572836 meters
#   Minimum depth: 888.517143 meters looking forward 100.000000 meters along route
#   Maximum depth: 891.897241 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 838.517143 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763029;
longitude = -121.986550;
captureRadius = 10;
duration = 101;
initialDepth = 835.423091;
finalDepth = 838.517143;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.380098
#   Actual altitude: 53.380098
#   Commanded vehicle depth:838.517143 
#   Seafloor depth:-891.897241
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.68;
MB_Bottom_Detect_Filter_Max_Range = 213.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 110
#   Segment length 101.572836 meters
#   Minimum depth: 885.423091 meters looking forward 100.000000 meters along route
#   Maximum depth: 888.430252 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 835.423091 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762271;
longitude = -121.985925;
captureRadius = 10;
duration = 101;
initialDepth = 834.960279;
finalDepth = 835.423091;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.380098
#   Actual altitude: 53.380098
#   Commanded vehicle depth:835.423091 
#   Seafloor depth:-888.430252
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.68;
MB_Bottom_Detect_Filter_Max_Range = 213.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 109
#   Segment length 101.572836 meters
#   Minimum depth: 884.960279 meters looking forward 100.000000 meters along route
#   Maximum depth: 886.904108 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.960279 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761490;
longitude = -121.985280;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 834.001629;
finalDepth = 834.960279;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.007161
#   Actual altitude: 53.007161
#   Commanded vehicle depth:834.960279 
#   Seafloor depth:-885.254120
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.60;
MB_Bottom_Detect_Filter_Max_Range = 212.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 109
#   Segment length 101.572836 meters
#   Minimum depth: 884.001629 meters looking forward 100.000000 meters along route
#   Maximum depth: 884.951421 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 834.001629 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761325;
longitude = -121.985130;
captureRadius = 10;
duration = 101;
initialDepth = 830.582515;
finalDepth = 834.001629;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.949792
#   Actual altitude: 50.949792
#   Commanded vehicle depth:834.001629 
#   Seafloor depth:-884.951421
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.19;
MB_Bottom_Detect_Filter_Max_Range = 203.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 109
#   Segment length 101.572836 meters
#   Minimum depth: 880.582515 meters looking forward 100.000000 meters along route
#   Maximum depth: 884.522179 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 830.582515 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760559;
longitude = -121.984435;
captureRadius = 10;
duration = 101;
initialDepth = 825.805443;
finalDepth = 830.582515;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.9396640000001
#   Actual altitude: 53.9396640000001
#   Commanded vehicle depth:830.582515 
#   Seafloor depth:-884.522179
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.79;
MB_Bottom_Detect_Filter_Max_Range = 215.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 108
#   Segment length 101.572836 meters
#   Minimum depth: 875.805443 meters looking forward 100.000000 meters along route
#   Maximum depth: 883.274865 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 825.805443 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759823;
longitude = -121.983768;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 819.201565;
finalDepth = 825.805443;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.7185900000001
#   Actual altitude: 54.7185900000001
#   Commanded vehicle depth:825.805443 
#   Seafloor depth:-880.524033
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.87;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.94;
MB_Bottom_Detect_Filter_Max_Range = 218.87;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.87;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 108
#   Segment length 101.572836 meters
#   Minimum depth: 869.201565 meters looking forward 100.000000 meters along route
#   Maximum depth: 875.471269 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 819.201565 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759568;
longitude = -121.983450;
captureRadius = 10;
duration = 101;
initialDepth = 818.002037;
finalDepth = 819.201565;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.269704
#   Actual altitude: 56.269704
#   Commanded vehicle depth:819.201565 
#   Seafloor depth:-875.471269
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.25;
MB_Bottom_Detect_Filter_Max_Range = 225.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 107
#   Segment length 101.572836 meters
#   Minimum depth: 868.002037 meters looking forward 100.000000 meters along route
#   Maximum depth: 869.839142 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 818.002037 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.758922;
longitude = -121.982647;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 817.059360;
finalDepth = 818.002037;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.269704
#   Actual altitude: 56.269704
#   Commanded vehicle depth:818.002037 
#   Seafloor depth:-869.839142
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.25;
MB_Bottom_Detect_Filter_Max_Range = 225.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 107
#   Segment length 101.572836 meters
#   Minimum depth: 867.059360 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.491152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 817.059360 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.758689;
longitude = -121.981957;
captureRadius = 10;
duration = 101;
initialDepth = 815.944602;
finalDepth = 817.059360;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.8371050000001
#   Actual altitude: 51.8371050000001
#   Commanded vehicle depth:817.05936 
#   Seafloor depth:-867.758538
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.35;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.37;
MB_Bottom_Detect_Filter_Max_Range = 207.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 106
#   Segment length 101.572836 meters
#   Minimum depth: 865.944602 meters looking forward 100.000000 meters along route
#   Maximum depth: 868.491152 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 815.944602 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.758336;
longitude = -121.980911;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 809.283916;
finalDepth = 815.944602;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.7380459999999
#   Actual altitude: 50.7380459999999
#   Commanded vehicle depth:815.944602 
#   Seafloor depth:-866.682648
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.95;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.15;
MB_Bottom_Detect_Filter_Max_Range = 202.95;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.95;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 101.572836 meters
#   Minimum depth: 859.283916 meters looking forward 100.000000 meters along route
#   Maximum depth: 865.815547 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 809.283916 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.758384;
longitude = -121.980612;
captureRadius = 10;
duration = 101;
initialDepth = 804.903682;
finalDepth = 809.283916;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.5316310000001
#   Actual altitude: 56.5316310000001
#   Commanded vehicle depth:809.283916 
#   Seafloor depth:-865.815547
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.31;
MB_Bottom_Detect_Filter_Max_Range = 226.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 106
#   Segment length 101.572836 meters
#   Minimum depth: 854.903682 meters looking forward 100.000000 meters along route
#   Maximum depth: 858.805825 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.903682 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.758564;
longitude = -121.979492;
captureRadius = 10;
duration = 101;
initialDepth = 804.706146;
finalDepth = 804.903682;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.5316310000001
#   Actual altitude: 56.5316310000001
#   Commanded vehicle depth:804.903682 
#   Seafloor depth:-858.805825
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.31;
MB_Bottom_Detect_Filter_Max_Range = 226.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 105
#   Segment length 101.572836 meters
#   Minimum depth: 854.706146 meters looking forward 100.000000 meters along route
#   Maximum depth: 858.033064 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.706146 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.758741;
longitude = -121.978390;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 804.010893;
finalDepth = 804.706146;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.902143
#   Actual altitude: 53.902143
#   Commanded vehicle depth:804.706146 
#   Seafloor depth:-854.706146
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.78;
MB_Bottom_Detect_Filter_Max_Range = 215.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 105
#   Segment length 101.572836 meters
#   Minimum depth: 854.010893 meters looking forward 100.000000 meters along route
#   Maximum depth: 855.121887 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 804.010893 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.758819;
longitude = -121.978203;
captureRadius = 10;
duration = 101;
initialDepth = 801.682050;
finalDepth = 804.010893;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.915756
#   Actual altitude: 50.915756
#   Commanded vehicle depth:804.010893 
#   Seafloor depth:-854.926649
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.66;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.18;
MB_Bottom_Detect_Filter_Max_Range = 203.66;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 105
#   Segment length 101.572836 meters
#   Minimum depth: 851.682050 meters looking forward 100.000000 meters along route
#   Maximum depth: 854.459608 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 801.682050 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759252;
longitude = -121.977171;
captureRadius = 10;
duration = 101;
initialDepth = 795.616599;
finalDepth = 801.682050;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.777558
#   Actual altitude: 52.777558
#   Commanded vehicle depth:801.68205 
#   Seafloor depth:-854.459608
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 104
#   Segment length 101.572836 meters
#   Minimum depth: 845.616599 meters looking forward 100.000000 meters along route
#   Maximum depth: 852.873421 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 795.616599 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759673;
longitude = -121.976168;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 790.953913;
finalDepth = 795.616599;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.873452
#   Actual altitude: 55.873452
#   Commanded vehicle depth:795.616599 
#   Seafloor depth:-851.490051
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.17;
MB_Bottom_Detect_Filter_Max_Range = 223.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 101.572836 meters
#   Minimum depth: 840.953913 meters looking forward 100.000000 meters along route
#   Maximum depth: 845.591430 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 790.953913 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.759973;
longitude = -121.975504;
captureRadius = 10;
duration = 101;
initialDepth = 786.511040;
finalDepth = 790.953913;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.873452
#   Actual altitude: 55.873452
#   Commanded vehicle depth:790.953913 
#   Seafloor depth:-845.591430
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.17;
MB_Bottom_Detect_Filter_Max_Range = 223.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 104
#   Segment length 101.572836 meters
#   Minimum depth: 836.511040 meters looking forward 100.000000 meters along route
#   Maximum depth: 840.934170 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 786.511040 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760425;
longitude = -121.974506;
captureRadius = 10;
duration = 101;
initialDepth = 785.224211;
finalDepth = 786.511040;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.6375169999999
#   Actual altitude: 54.6375169999999
#   Commanded vehicle depth:786.51104 
#   Seafloor depth:-840.934170
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 103
#   Segment length 101.572836 meters
#   Minimum depth: 835.224211 meters looking forward 100.000000 meters along route
#   Maximum depth: 837.551413 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 785.224211 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.760889;
longitude = -121.973479;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 779.869455;
finalDepth = 785.224211;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.42313
#   Actual altitude: 54.42313
#   Commanded vehicle depth:785.224211 
#   Seafloor depth:-837.532013
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.88;
MB_Bottom_Detect_Filter_Max_Range = 217.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 103
#   Segment length 101.572836 meters
#   Minimum depth: 829.869455 meters looking forward 100.000000 meters along route
#   Maximum depth: 835.096598 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 779.869455 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761383;
longitude = -121.972713;
captureRadius = 10;
duration = 101;
initialDepth = 777.381714;
finalDepth = 779.869455;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.227143
#   Actual altitude: 55.227143
#   Commanded vehicle depth:779.869455 
#   Seafloor depth:-835.096598
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.05;
MB_Bottom_Detect_Filter_Max_Range = 220.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 103
#   Segment length 101.572836 meters
#   Minimum depth: 827.381714 meters looking forward 100.000000 meters along route
#   Maximum depth: 830.220705 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 777.381714 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.761961;
longitude = -121.971817;
captureRadius = 10;
duration = 101;
initialDepth = 777.243996;
finalDepth = 777.381714;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.227143
#   Actual altitude: 55.227143
#   Commanded vehicle depth:777.381714 
#   Seafloor depth:-829.804387
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.05;
MB_Bottom_Detect_Filter_Max_Range = 220.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 102
#   Segment length 101.572836 meters
#   Minimum depth: 827.243996 meters looking forward 100.000000 meters along route
#   Maximum depth: 829.058274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 777.243996 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.762527;
longitude = -121.970940;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 779.226878;
finalDepth = 777.243996;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.422673
#   Actual altitude: 52.422673
#   Commanded vehicle depth:777.243996 
#   Seafloor depth:-827.255325
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 102
#   Segment length 101.572836 meters
#   Minimum depth: 829.226878 meters looking forward 100.000000 meters along route
#   Maximum depth: 835.085763 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 779.226878 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763094;
longitude = -121.970361;
captureRadius = 10;
duration = 101;
initialDepth = 784.592346;
finalDepth = 779.226878;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.0113289999999
#   Actual altitude: 50.0113289999999
#   Commanded vehicle depth:779.226878 
#   Seafloor depth:-829.226878
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 102
#   Segment length 101.572836 meters
#   Minimum depth: 834.592346 meters looking forward 100.000000 meters along route
#   Maximum depth: 835.810084 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 784.592346 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.763808;
longitude = -121.969632;
captureRadius = 10;
duration = 101;
initialDepth = 782.921694;
finalDepth = 784.592346;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.020852
#   Actual altitude: 50.020852
#   Commanded vehicle depth:784.592346 
#   Seafloor depth:-834.613198
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 101
#   Segment length 101.572836 meters
#   Minimum depth: 832.921694 meters looking forward 100.000000 meters along route
#   Maximum depth: 835.306100 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 782.921694 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764539;
longitude = -121.968886;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 779.565401;
finalDepth = 782.921694;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.5934579999999
#   Actual altitude: 51.5934579999999
#   Commanded vehicle depth:782.921694 
#   Seafloor depth:-834.515152
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.32;
MB_Bottom_Detect_Filter_Max_Range = 206.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 101
#   Segment length 101.572836 meters
#   Minimum depth: 829.565401 meters looking forward 100.000000 meters along route
#   Maximum depth: 832.796439 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 779.565401 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.764861;
longitude = -121.968624;
captureRadius = 10;
duration = 101;
initialDepth = 777.241688;
finalDepth = 779.565401;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.231038
#   Actual altitude: 53.231038
#   Commanded vehicle depth:779.565401 
#   Seafloor depth:-832.796439
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.92;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.65;
MB_Bottom_Detect_Filter_Max_Range = 212.92;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 101
#   Segment length 101.572836 meters
#   Minimum depth: 827.241688 meters looking forward 100.000000 meters along route
#   Maximum depth: 829.513723 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 777.241688 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.765620;
longitude = -121.968008;
captureRadius = 10;
duration = 101;
initialDepth = 774.081982;
finalDepth = 777.241688;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.231038
#   Actual altitude: 53.231038
#   Commanded vehicle depth:777.241688 
#   Seafloor depth:-829.513723
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.92;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.65;
MB_Bottom_Detect_Filter_Max_Range = 212.92;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.92;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 101
#   Segment length 101.572836 meters
#   Minimum depth: 824.081982 meters looking forward 100.000000 meters along route
#   Maximum depth: 827.223551 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 774.081982 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.766379;
longitude = -121.967392;
captureRadius = 10;
duration = 101;
initialDepth = 771.793711;
finalDepth = 774.081982;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.141569
#   Actual altitude: 53.141569
#   Commanded vehicle depth:774.081982 
#   Seafloor depth:-827.223551
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 101
#   Segment length 101.572836 meters
#   Minimum depth: 821.793711 meters looking forward 100.000000 meters along route
#   Maximum depth: 824.123624 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 771.793711 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767138;
longitude = -121.966775;
captureRadius = 10;
duration = 101;
initialDepth = 770.639016;
finalDepth = 771.793711;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.141569
#   Actual altitude: 53.141569
#   Commanded vehicle depth:771.793711 
#   Seafloor depth:-824.088913
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 100
#   Segment length 101.572836 meters
#   Minimum depth: 820.639016 meters looking forward 100.000000 meters along route
#   Maximum depth: 822.839211 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 770.639016 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.767919;
longitude = -121.966141;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 768.077460;
finalDepth = 770.639016;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.295202
#   Actual altitude: 52.295202
#   Commanded vehicle depth:770.639016 
#   Seafloor depth:-821.753479
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.46;
MB_Bottom_Detect_Filter_Max_Range = 209.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 101.572836 meters
#   Minimum depth: 818.077460 meters looking forward 100.000000 meters along route
#   Maximum depth: 820.490767 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 768.077460 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.768355;
longitude = -121.965807;
captureRadius = 10;
duration = 101;
initialDepth = 765.849173;
finalDepth = 768.077460;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.413307
#   Actual altitude: 52.413307
#   Commanded vehicle depth:768.07746 
#   Seafloor depth:-820.490767
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 100
#   Segment length 101.572836 meters
#   Minimum depth: 815.849173 meters looking forward 100.000000 meters along route
#   Maximum depth: 818.010439 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 765.849173 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769137;
longitude = -121.965207;
captureRadius = 10;
duration = 101;
initialDepth = 761.772497;
finalDepth = 765.849173;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.413307
#   Actual altitude: 52.413307
#   Commanded vehicle depth:765.849173 
#   Seafloor depth:-818.010439
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.48;
MB_Bottom_Detect_Filter_Max_Range = 209.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 99
#   Segment length 101.572836 meters
#   Minimum depth: 811.772497 meters looking forward 100.000000 meters along route
#   Maximum depth: 815.940194 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 761.772497 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.769917;
longitude = -121.964609;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 758.878622;
finalDepth = 761.772497;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.043009
#   Actual altitude: 54.043009
#   Commanded vehicle depth:761.772497 
#   Seafloor depth:-815.815506
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 99
#   Segment length 101.572836 meters
#   Minimum depth: 808.878622 meters looking forward 100.000000 meters along route
#   Maximum depth: 811.771116 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 758.878622 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.770563;
longitude = -121.964086;
captureRadius = 10;
duration = 101;
initialDepth = 755.430194;
finalDepth = 758.878622;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.043009
#   Actual altitude: 54.043009
#   Commanded vehicle depth:758.878622 
#   Seafloor depth:-811.771116
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 99
#   Segment length 101.572836 meters
#   Minimum depth: 805.430194 meters looking forward 100.000000 meters along route
#   Maximum depth: 808.855849 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 755.430194 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.771329;
longitude = -121.963466;
captureRadius = 10;
duration = 101;
initialDepth = 751.131010;
finalDepth = 755.430194;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.425655
#   Actual altitude: 53.425655
#   Commanded vehicle depth:755.430194 
#   Seafloor depth:-808.855849
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.69;
MB_Bottom_Detect_Filter_Max_Range = 213.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 99
#   Segment length 101.572836 meters
#   Minimum depth: 801.131010 meters looking forward 100.000000 meters along route
#   Maximum depth: 805.355063 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 751.131010 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772095;
longitude = -121.962846;
captureRadius = 10;
duration = 101;
initialDepth = 750.554550;
finalDepth = 751.131010;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.224053
#   Actual altitude: 54.224053
#   Commanded vehicle depth:751.13101 
#   Seafloor depth:-805.355063
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 98
#   Segment length 101.572836 meters
#   Minimum depth: 800.554550 meters looking forward 100.000000 meters along route
#   Maximum depth: 803.973364 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 750.554550 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.772891;
longitude = -121.962201;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 747.822570;
finalDepth = 750.554550;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.224053
#   Actual altitude: 54.224053
#   Commanded vehicle depth:750.55455 
#   Seafloor depth:-801.177628
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 98
#   Segment length 101.572836 meters
#   Minimum depth: 797.822570 meters looking forward 100.000000 meters along route
#   Maximum depth: 800.262903 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 747.822570 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773041;
longitude = -121.962030;
captureRadius = 10;
duration = 101;
initialDepth = 744.093505;
finalDepth = 747.822570;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.440333
#   Actual altitude: 52.440333
#   Commanded vehicle depth:747.82257 
#   Seafloor depth:-800.262903
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.49;
MB_Bottom_Detect_Filter_Max_Range = 209.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 98
#   Segment length 101.572836 meters
#   Minimum depth: 794.093505 meters looking forward 100.000000 meters along route
#   Maximum depth: 797.623679 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 744.093505 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773717;
longitude = -121.961260;
captureRadius = 10;
duration = 101;
initialDepth = 740.163083;
finalDepth = 744.093505;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.530174
#   Actual altitude: 53.530174
#   Commanded vehicle depth:744.093505 
#   Seafloor depth:-797.623679
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.12;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.12;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.12;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 98
#   Segment length 101.572836 meters
#   Minimum depth: 790.163083 meters looking forward 100.000000 meters along route
#   Maximum depth: 794.005662 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 740.163083 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774382;
longitude = -121.960501;
captureRadius = 10;
duration = 101;
initialDepth = 738.125172;
finalDepth = 740.163083;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.842579
#   Actual altitude: 53.842579
#   Commanded vehicle depth:740.163083 
#   Seafloor depth:-794.005662
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.77;
MB_Bottom_Detect_Filter_Max_Range = 215.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 97
#   Segment length 101.572836 meters
#   Minimum depth: 788.125172 meters looking forward 100.000000 meters along route
#   Maximum depth: 790.916626 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 738.125172 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775054;
longitude = -121.959736;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 735.026099;
finalDepth = 738.125172;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.842579
#   Actual altitude: 53.842579
#   Commanded vehicle depth:738.125172 
#   Seafloor depth:-790.125427
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.77;
MB_Bottom_Detect_Filter_Max_Range = 215.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 97
#   Segment length 101.572836 meters
#   Minimum depth: 785.026099 meters looking forward 100.000000 meters along route
#   Maximum depth: 788.000234 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.026099 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775564;
longitude = -121.959313;
captureRadius = 10;
duration = 101;
initialDepth = 735.207785;
finalDepth = 735.026099;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.9741349999999
#   Actual altitude: 52.9741349999999
#   Commanded vehicle depth:735.026099 
#   Seafloor depth:-788.000234
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 97
#   Segment length 101.572836 meters
#   Minimum depth: 785.207785 meters looking forward 100.000000 meters along route
#   Maximum depth: 786.861813 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.207785 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776330;
longitude = -121.958677;
captureRadius = 10;
duration = 101;
initialDepth = 735.879900;
finalDepth = 735.207785;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.9741349999999
#   Actual altitude: 52.9741349999999
#   Commanded vehicle depth:735.207785 
#   Seafloor depth:-785.207785
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 96
#   Segment length 101.572836 meters
#   Minimum depth: 785.879900 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.391452 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 735.879900 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777081;
longitude = -121.958055;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 731.715775;
finalDepth = 735.879900;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.014326
#   Actual altitude: 51.014326
#   Commanded vehicle depth:735.8799 
#   Seafloor depth:-786.894226
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.20;
MB_Bottom_Detect_Filter_Max_Range = 204.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 101.572836 meters
#   Minimum depth: 781.715775 meters looking forward 100.000000 meters along route
#   Maximum depth: 787.568515 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 731.715775 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777412;
longitude = -121.957832;
captureRadius = 10;
duration = 101;
initialDepth = 724.594026;
finalDepth = 731.715775;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.745233
#   Actual altitude: 55.745233
#   Commanded vehicle depth:731.715775 
#   Seafloor depth:-787.461008
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.98;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.15;
MB_Bottom_Detect_Filter_Max_Range = 222.98;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.98;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 96
#   Segment length 101.572836 meters
#   Minimum depth: 774.594026 meters looking forward 100.000000 meters along route
#   Maximum depth: 781.158028 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 724.594026 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778223;
longitude = -121.957286;
captureRadius = 10;
duration = 101;
initialDepth = 713.036740;
finalDepth = 724.594026;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.564002
#   Actual altitude: 56.564002
#   Commanded vehicle depth:724.594026 
#   Seafloor depth:-781.158028
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.31;
MB_Bottom_Detect_Filter_Max_Range = 226.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 95
#   Segment length 101.572836 meters
#   Minimum depth: 763.036740 meters looking forward 100.000000 meters along route
#   Maximum depth: 775.086805 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 713.036740 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779049;
longitude = -121.956729;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 711.231501;
finalDepth = 713.036740;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.088535
#   Actual altitude: 61.088535
#   Commanded vehicle depth:713.03674 
#   Seafloor depth:-774.125275
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 244.35;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.22;
MB_Bottom_Detect_Filter_Max_Range = 244.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 244.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 95
#   Segment length 101.572836 meters
#   Minimum depth: 761.231501 meters looking forward 100.000000 meters along route
#   Maximum depth: 763.067862 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 711.231501 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779500;
longitude = -121.955964;
captureRadius = 10;
duration = 101;
initialDepth = 706.163668;
finalDepth = 711.231501;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.088535
#   Actual altitude: 61.088535
#   Commanded vehicle depth:711.231501 
#   Seafloor depth:-763.067862
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 244.35;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.22;
MB_Bottom_Detect_Filter_Max_Range = 244.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 244.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 94
#   Segment length 101.572836 meters
#   Minimum depth: 756.163668 meters looking forward 100.000000 meters along route
#   Maximum depth: 761.715665 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 706.163668 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780040;
longitude = -121.955049;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 702.790160;
finalDepth = 706.163668;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.400266
#   Actual altitude: 55.400266
#   Commanded vehicle depth:706.163668 
#   Seafloor depth:-761.563934
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.572836 meters
#   Minimum depth: 752.790160 meters looking forward 100.000000 meters along route
#   Maximum depth: 755.793396 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.790160 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780142;
longitude = -121.954115;
captureRadius = 10;
duration = 101;
initialDepth = 702.608856;
finalDepth = 702.790160;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.400266
#   Actual altitude: 55.400266
#   Commanded vehicle depth:702.79016 
#   Seafloor depth:-755.793396
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.60;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.60;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.60;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 93
#   Segment length 101.572836 meters
#   Minimum depth: 752.608856 meters looking forward 100.000000 meters along route
#   Maximum depth: 753.745354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.608856 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780266;
longitude = -121.952976;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 702.740046;
finalDepth = 702.608856;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.003236
#   Actual altitude: 53.003236
#   Commanded vehicle depth:702.608856 
#   Seafloor depth:-753.674484
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.60;
MB_Bottom_Detect_Filter_Max_Range = 212.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.572836 meters
#   Minimum depth: 752.740046 meters looking forward 100.000000 meters along route
#   Maximum depth: 754.125265 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 702.740046 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780388;
longitude = -121.952043;
captureRadius = 10;
duration = 101;
initialDepth = 700.540551;
finalDepth = 702.740046;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.0656280000001
#   Actual altitude: 51.0656280000001
#   Commanded vehicle depth:702.740046 
#   Seafloor depth:-753.050640
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 92
#   Segment length 101.572836 meters
#   Minimum depth: 750.540551 meters looking forward 100.000000 meters along route
#   Maximum depth: 754.125265 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 700.540551 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780536;
longitude = -121.950904;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 692.150898;
finalDepth = 700.540551;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.0744239999999
#   Actual altitude: 52.0744239999999
#   Commanded vehicle depth:700.540551 
#   Seafloor depth:-752.614975
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.41;
MB_Bottom_Detect_Filter_Max_Range = 208.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.572836 meters
#   Minimum depth: 742.150898 meters looking forward 100.000000 meters along route
#   Maximum depth: 749.997570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 692.150898 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780544;
longitude = -121.950418;
captureRadius = 10;
duration = 101;
initialDepth = 689.403445;
finalDepth = 692.150898;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.846672
#   Actual altitude: 57.846672
#   Commanded vehicle depth:692.150898 
#   Seafloor depth:-749.997570
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.39;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.57;
MB_Bottom_Detect_Filter_Max_Range = 231.39;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.572836 meters
#   Minimum depth: 739.403445 meters looking forward 100.000000 meters along route
#   Maximum depth: 741.769466 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 689.403445 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780561;
longitude = -121.949298;
captureRadius = 10;
duration = 101;
initialDepth = 687.021543;
finalDepth = 689.403445;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.846672
#   Actual altitude: 57.846672
#   Commanded vehicle depth:689.403445 
#   Seafloor depth:-741.769466
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.39;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.57;
MB_Bottom_Detect_Filter_Max_Range = 231.39;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.39;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.572836 meters
#   Minimum depth: 737.021543 meters looking forward 100.000000 meters along route
#   Maximum depth: 739.984274 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 687.021543 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780578;
longitude = -121.948177;
captureRadius = 10;
duration = 101;
initialDepth = 686.768731;
finalDepth = 687.021543;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.9627310000001
#   Actual altitude: 52.9627310000001
#   Commanded vehicle depth:687.021543 
#   Seafloor depth:-739.984274
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 91
#   Segment length 101.572836 meters
#   Minimum depth: 736.768731 meters looking forward 100.000000 meters along route
#   Maximum depth: 738.817318 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.768731 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780596;
longitude = -121.947020;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 686.527220;
finalDepth = 686.768731;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.9627310000001
#   Actual altitude: 52.9627310000001
#   Commanded vehicle depth:686.768731 
#   Seafloor depth:-736.881989
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 101.572836 meters
#   Minimum depth: 736.527220 meters looking forward 100.000000 meters along route
#   Maximum depth: 737.938246 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 686.527220 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780598;
longitude = -121.946721;
captureRadius = 10;
duration = 101;
initialDepth = 684.597653;
finalDepth = 686.527220;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.2980879999999
#   Actual altitude: 51.2980879999999
#   Commanded vehicle depth:686.52722 
#   Seafloor depth:-737.825308
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.19;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.26;
MB_Bottom_Detect_Filter_Max_Range = 205.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 101.572836 meters
#   Minimum depth: 734.597653 meters looking forward 100.000000 meters along route
#   Maximum depth: 736.858370 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 684.597653 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780608;
longitude = -121.945544;
captureRadius = 10;
duration = 101;
initialDepth = 679.779967;
finalDepth = 684.597653;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.260717
#   Actual altitude: 52.260717
#   Commanded vehicle depth:684.597653 
#   Seafloor depth:-736.858370
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 209.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 91
#   Segment length 101.572836 meters
#   Minimum depth: 729.779967 meters looking forward 100.000000 meters along route
#   Maximum depth: 734.241562 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 679.779967 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780617;
longitude = -121.944368;
captureRadius = 10;
duration = 101;
initialDepth = 678.962510;
finalDepth = 679.779967;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.461595
#   Actual altitude: 54.461595
#   Commanded vehicle depth:679.779967 
#   Seafloor depth:-734.241562
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 90
#   Segment length 101.572836 meters
#   Minimum depth: 728.962510 meters looking forward 100.000000 meters along route
#   Maximum depth: 732.563477 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 678.962510 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780626;
longitude = -121.943229;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 673.926208;
finalDepth = 678.962510;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.461595
#   Actual altitude: 54.461595
#   Commanded vehicle depth:678.96251 
#   Seafloor depth:-729.746796
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 101.572836 meters
#   Minimum depth: 723.926208 meters looking forward 100.000000 meters along route
#   Maximum depth: 728.560405 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 673.926208 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780634;
longitude = -121.942912;
captureRadius = 10;
duration = 101;
initialDepth = 670.756175;
finalDepth = 673.926208;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.634197
#   Actual altitude: 54.634197
#   Commanded vehicle depth:673.926208 
#   Seafloor depth:-728.560405
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 101.572836 meters
#   Minimum depth: 720.756175 meters looking forward 100.000000 meters along route
#   Maximum depth: 723.821558 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 670.756175 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780661;
longitude = -121.941791;
captureRadius = 10;
duration = 101;
initialDepth = 670.358622;
finalDepth = 670.756175;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.634197
#   Actual altitude: 54.634197
#   Commanded vehicle depth:670.756175 
#   Seafloor depth:-723.821558
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.54;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.54;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.54;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 101.572836 meters
#   Minimum depth: 720.358622 meters looking forward 100.000000 meters along route
#   Maximum depth: 724.431254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 670.358622 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780688;
longitude = -121.940671;
captureRadius = 10;
duration = 101;
initialDepth = 673.522144;
finalDepth = 670.358622;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.065383
#   Actual altitude: 53.065383
#   Commanded vehicle depth:670.358622 
#   Seafloor depth:-720.617305
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.61;
MB_Bottom_Detect_Filter_Max_Range = 212.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 89
#   Segment length 101.572836 meters
#   Minimum depth: 723.522144 meters looking forward 100.000000 meters along route
#   Maximum depth: 724.431254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 673.522144 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780716;
longitude = -121.939532;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 667.667191;
finalDepth = 673.522144;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.5131799999999
#   Actual altitude: 50.5131799999999
#   Commanded vehicle depth:673.522144 
#   Seafloor depth:-724.035324
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.10;
MB_Bottom_Detect_Filter_Max_Range = 202.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 89
#   Segment length 101.572836 meters
#   Minimum depth: 717.667191 meters looking forward 100.000000 meters along route
#   Maximum depth: 723.496684 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 667.667191 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780752;
longitude = -121.938822;
captureRadius = 10;
duration = 101;
initialDepth = 662.750483;
finalDepth = 667.667191;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.829493
#   Actual altitude: 55.829493
#   Commanded vehicle depth:667.667191 
#   Seafloor depth:-723.496684
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.32;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.17;
MB_Bottom_Detect_Filter_Max_Range = 223.32;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.32;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 89
#   Segment length 101.572836 meters
#   Minimum depth: 712.750483 meters looking forward 100.000000 meters along route
#   Maximum depth: 717.092094 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 662.750483 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780808;
longitude = -121.937702;
captureRadius = 10;
duration = 101;
initialDepth = 659.460983;
finalDepth = 662.750483;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.829493
#   Actual altitude: 55.829493
#   Commanded vehicle depth:662.750483 
#   Seafloor depth:-717.092094
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 223.32;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.17;
MB_Bottom_Detect_Filter_Max_Range = 223.32;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 223.32;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 88
#   Segment length 101.572836 meters
#   Minimum depth: 709.460983 meters looking forward 100.000000 meters along route
#   Maximum depth: 714.777830 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 659.460983 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780867;
longitude = -121.936544;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 653.819050;
finalDepth = 659.460983;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.3416109999999
#   Actual altitude: 54.3416109999999
#   Commanded vehicle depth:659.460983 
#   Seafloor depth:-712.689056
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.37;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.87;
MB_Bottom_Detect_Filter_Max_Range = 217.37;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.37;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 101.572836 meters
#   Minimum depth: 703.819050 meters looking forward 100.000000 meters along route
#   Maximum depth: 709.432550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 653.819050 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781062;
longitude = -121.936127;
captureRadius = 10;
duration = 101;
initialDepth = 651.309332;
finalDepth = 653.819050;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.6135
#   Actual altitude: 55.6135
#   Commanded vehicle depth:653.81905 
#   Seafloor depth:-709.432550
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.12;
MB_Bottom_Detect_Filter_Max_Range = 222.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 101.572836 meters
#   Minimum depth: 701.309332 meters looking forward 100.000000 meters along route
#   Maximum depth: 703.571506 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 651.309332 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781530;
longitude = -121.935125;
captureRadius = 10;
duration = 101;
initialDepth = 648.403875;
finalDepth = 651.309332;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.6135
#   Actual altitude: 55.6135
#   Commanded vehicle depth:651.309332 
#   Seafloor depth:-703.571506
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.45;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.12;
MB_Bottom_Detect_Filter_Max_Range = 222.45;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.45;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 87
#   Segment length 101.572836 meters
#   Minimum depth: 698.403875 meters looking forward 100.000000 meters along route
#   Maximum depth: 701.453379 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 648.403875 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781993;
longitude = -121.934135;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 645.655172;
finalDepth = 648.403875;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.044398
#   Actual altitude: 53.044398
#   Commanded vehicle depth:648.403875 
#   Seafloor depth:-701.448273
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.61;
MB_Bottom_Detect_Filter_Max_Range = 212.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 87
#   Segment length 101.572836 meters
#   Minimum depth: 695.655172 meters looking forward 100.000000 meters along route
#   Maximum depth: 698.365444 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 645.655172 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782508;
longitude = -121.933220;
captureRadius = 10;
duration = 101;
initialDepth = 641.765470;
finalDepth = 645.655172;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.044398
#   Actual altitude: 53.044398
#   Commanded vehicle depth:645.655172 
#   Seafloor depth:-698.365444
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.61;
MB_Bottom_Detect_Filter_Max_Range = 212.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 87
#   Segment length 101.572836 meters
#   Minimum depth: 691.765470 meters looking forward 100.000000 meters along route
#   Maximum depth: 695.653087 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 641.765470 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783045;
longitude = -121.932267;
captureRadius = 10;
duration = 101;
initialDepth = 641.363490;
finalDepth = 641.765470;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.887617
#   Actual altitude: 53.887617
#   Commanded vehicle depth:641.76547 
#   Seafloor depth:-695.653087
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.78;
MB_Bottom_Detect_Filter_Max_Range = 215.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 86
#   Segment length 101.572836 meters
#   Minimum depth: 691.363490 meters looking forward 100.000000 meters along route
#   Maximum depth: 695.473771 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 641.363490 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783570;
longitude = -121.931334;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 639.169441;
finalDepth = 641.363490;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.887617
#   Actual altitude: 53.887617
#   Commanded vehicle depth:641.36349 
#   Seafloor depth:-691.587311
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.78;
MB_Bottom_Detect_Filter_Max_Range = 215.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 101.572836 meters
#   Minimum depth: 689.169441 meters looking forward 100.000000 meters along route
#   Maximum depth: 691.321993 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 639.169441 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783585;
longitude = -121.931311;
captureRadius = 10;
duration = 101;
initialDepth = 636.226558;
finalDepth = 639.169441;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.152552
#   Actual altitude: 52.152552
#   Commanded vehicle depth:639.169441 
#   Seafloor depth:-691.321993
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.43;
MB_Bottom_Detect_Filter_Max_Range = 208.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 101.572836 meters
#   Minimum depth: 686.226558 meters looking forward 100.000000 meters along route
#   Maximum depth: 689.167038 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 636.226558 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784171;
longitude = -121.930419;
captureRadius = 10;
duration = 101;
initialDepth = 630.505685;
finalDepth = 636.226558;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.9404800000001
#   Actual altitude: 52.9404800000001
#   Commanded vehicle depth:636.226558 
#   Seafloor depth:-689.167038
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.59;
MB_Bottom_Detect_Filter_Max_Range = 211.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 85
#   Segment length 101.572836 meters
#   Minimum depth: 680.505685 meters looking forward 100.000000 meters along route
#   Maximum depth: 687.293412 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 630.505685 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784772;
longitude = -121.929504;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 628.031668;
finalDepth = 630.505685;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.498557
#   Actual altitude: 55.498557
#   Commanded vehicle depth:630.505685 
#   Seafloor depth:-686.004242
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.10;
MB_Bottom_Detect_Filter_Max_Range = 221.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 85
#   Segment length 101.572836 meters
#   Minimum depth: 678.031668 meters looking forward 100.000000 meters along route
#   Maximum depth: 680.426766 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 628.031668 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785175;
longitude = -121.928739;
captureRadius = 10;
duration = 101;
initialDepth = 626.542429;
finalDepth = 628.031668;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.498557
#   Actual altitude: 55.498557
#   Commanded vehicle depth:628.031668 
#   Seafloor depth:-680.426766
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.10;
MB_Bottom_Detect_Filter_Max_Range = 221.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 84
#   Segment length 101.572836 meters
#   Minimum depth: 676.542429 meters looking forward 100.000000 meters along route
#   Maximum depth: 680.159826 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 626.542429 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785690;
longitude = -121.927763;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 621.260074;
finalDepth = 626.542429;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.3002680000001
#   Actual altitude: 53.3002680000001
#   Commanded vehicle depth:626.542429 
#   Seafloor depth:-679.842697
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.66;
MB_Bottom_Detect_Filter_Max_Range = 213.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 101.572836 meters
#   Minimum depth: 671.260074 meters looking forward 100.000000 meters along route
#   Maximum depth: 676.384391 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 621.260074 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785629;
longitude = -121.927002;
captureRadius = 10;
duration = 101;
initialDepth = 618.056775;
finalDepth = 621.260074;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.124317
#   Actual altitude: 55.124317
#   Commanded vehicle depth:621.260074 
#   Seafloor depth:-676.384391
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 83
#   Segment length 101.572836 meters
#   Minimum depth: 668.056775 meters looking forward 100.000000 meters along route
#   Maximum depth: 672.710289 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 618.056775 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785538;
longitude = -121.925863;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 615.280467;
finalDepth = 618.056775;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.124317
#   Actual altitude: 55.124317
#   Commanded vehicle depth:618.056775 
#   Seafloor depth:-671.487793
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 83
#   Segment length 101.572836 meters
#   Minimum depth: 665.280467 meters looking forward 100.000000 meters along route
#   Maximum depth: 668.049490 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 615.280467 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785072;
longitude = -121.925434;
captureRadius = 10;
duration = 101;
initialDepth = 610.511973;
finalDepth = 615.280467;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.431018
#   Actual altitude: 53.431018
#   Commanded vehicle depth:615.280467 
#   Seafloor depth:-668.049490
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.72;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.69;
MB_Bottom_Detect_Filter_Max_Range = 213.72;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.72;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 83
#   Segment length 101.572836 meters
#   Minimum depth: 660.511973 meters looking forward 100.000000 meters along route
#   Maximum depth: 665.292381 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 610.511973 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784306;
longitude = -121.924730;
captureRadius = 10;
duration = 101;
initialDepth = 609.077831;
finalDepth = 610.511973;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.780408
#   Actual altitude: 54.780408
#   Commanded vehicle depth:610.511973 
#   Seafloor depth:-665.292381
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.12;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.12;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.12;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 82
#   Segment length 101.572836 meters
#   Minimum depth: 659.077831 meters looking forward 100.000000 meters along route
#   Maximum depth: 661.389227 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 609.077831 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783570;
longitude = -121.924052;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 606.636708;
finalDepth = 609.077831;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.780408
#   Actual altitude: 54.780408
#   Commanded vehicle depth:609.077831 
#   Seafloor depth:-660.238953
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.12;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.12;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.12;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 101.572836 meters
#   Minimum depth: 656.636708 meters looking forward 100.000000 meters along route
#   Maximum depth: 659.075181 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 606.636708 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782998;
longitude = -121.923417;
captureRadius = 10;
duration = 101;
initialDepth = 602.136124;
finalDepth = 606.636708;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.438473
#   Actual altitude: 52.438473
#   Commanded vehicle depth:606.636708 
#   Seafloor depth:-659.075181
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.49;
MB_Bottom_Detect_Filter_Max_Range = 209.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 101.572836 meters
#   Minimum depth: 652.136124 meters looking forward 100.000000 meters along route
#   Maximum depth: 656.919296 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 602.136124 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782291;
longitude = -121.922633;
captureRadius = 10;
duration = 101;
initialDepth = 598.678680;
finalDepth = 602.136124;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.783172
#   Actual altitude: 54.783172
#   Commanded vehicle depth:602.136124 
#   Seafloor depth:-656.919296
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 81
#   Segment length 101.572836 meters
#   Minimum depth: 648.678680 meters looking forward 100.000000 meters along route
#   Maximum depth: 653.045577 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 598.678680 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781618;
longitude = -121.921886;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 594.860678;
finalDepth = 598.678680;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.783172
#   Actual altitude: 54.783172
#   Commanded vehicle depth:598.67868 
#   Seafloor depth:-652.070663
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 81
#   Segment length 101.572836 meters
#   Minimum depth: 644.860678 meters looking forward 100.000000 meters along route
#   Maximum depth: 648.612053 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 594.860678 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781217;
longitude = -121.921400;
captureRadius = 10;
duration = 101;
initialDepth = 590.840549;
finalDepth = 594.860678;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.7513749999999
#   Actual altitude: 53.7513749999999
#   Commanded vehicle depth:594.860678 
#   Seafloor depth:-648.612053
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 215.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 81
#   Segment length 101.572836 meters
#   Minimum depth: 640.840549 meters looking forward 100.000000 meters along route
#   Maximum depth: 644.842641 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 590.840549 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780566;
longitude = -121.920613;
captureRadius = 10;
duration = 101;
initialDepth = 588.687238;
finalDepth = 590.840549;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.0020919999999
#   Actual altitude: 54.0020919999999
#   Commanded vehicle depth:590.840549 
#   Seafloor depth:-644.842641
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 216.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 80
#   Segment length 101.572836 meters
#   Minimum depth: 638.687238 meters looking forward 100.000000 meters along route
#   Maximum depth: 642.399750 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 588.687238 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779905;
longitude = -121.919813;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 584.499301;
finalDepth = 588.687238;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.0020919999999
#   Actual altitude: 54.0020919999999
#   Commanded vehicle depth:588.687238 
#   Seafloor depth:-641.034393
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 216.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 101.572836 meters
#   Minimum depth: 634.499301 meters looking forward 100.000000 meters along route
#   Maximum depth: 638.641122 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 584.499301 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779514;
longitude = -121.919272;
captureRadius = 10;
duration = 101;
initialDepth = 581.181698;
finalDepth = 584.499301;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.141821
#   Actual altitude: 54.141821
#   Commanded vehicle depth:584.499301 
#   Seafloor depth:-638.641122
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.83;
MB_Bottom_Detect_Filter_Max_Range = 216.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 101.572836 meters
#   Minimum depth: 631.181698 meters looking forward 100.000000 meters along route
#   Maximum depth: 634.256323 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 581.181698 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778907;
longitude = -121.918431;
captureRadius = 10;
duration = 101;
initialDepth = 575.826161;
finalDepth = 581.181698;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.141821
#   Actual altitude: 54.141821
#   Commanded vehicle depth:581.181698 
#   Seafloor depth:-634.256323
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.83;
MB_Bottom_Detect_Filter_Max_Range = 216.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 101.572836 meters
#   Minimum depth: 625.826161 meters looking forward 100.000000 meters along route
#   Maximum depth: 631.018156 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 575.826161 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778300;
longitude = -121.917591;
captureRadius = 10;
duration = 101;
initialDepth = 575.286942;
finalDepth = 575.826161;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.191995
#   Actual altitude: 55.191995
#   Commanded vehicle depth:575.826161 
#   Seafloor depth:-631.018156
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.77;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.04;
MB_Bottom_Detect_Filter_Max_Range = 220.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 79
#   Segment length 101.572836 meters
#   Minimum depth: 625.286942 meters looking forward 100.000000 meters along route
#   Maximum depth: 630.167765 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 575.286942 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777667;
longitude = -121.916714;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 567.582012;
finalDepth = 575.286942;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.191995
#   Actual altitude: 55.191995
#   Commanded vehicle depth:575.286942 
#   Seafloor depth:-625.286942
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.77;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.04;
MB_Bottom_Detect_Filter_Max_Range = 220.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 101.572836 meters
#   Minimum depth: 617.582012 meters looking forward 100.000000 meters along route
#   Maximum depth: 625.080453 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 567.582012 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777577;
longitude = -121.916527;
captureRadius = 10;
duration = 101;
initialDepth = 564.963284;
finalDepth = 567.582012;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.4984410000001
#   Actual altitude: 57.4984410000001
#   Commanded vehicle depth:567.582012 
#   Seafloor depth:-625.080453
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.50;
MB_Bottom_Detect_Filter_Max_Range = 229.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 101.572836 meters
#   Minimum depth: 614.963284 meters looking forward 100.000000 meters along route
#   Maximum depth: 617.561309 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 564.963284 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777096;
longitude = -121.915529;
captureRadius = 10;
duration = 101;
initialDepth = 562.519145;
finalDepth = 564.963284;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.4984410000001
#   Actual altitude: 57.4984410000001
#   Commanded vehicle depth:564.963284 
#   Seafloor depth:-617.203094
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.50;
MB_Bottom_Detect_Filter_Max_Range = 229.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 79
#   Segment length 101.572836 meters
#   Minimum depth: 612.519145 meters looking forward 100.000000 meters along route
#   Maximum depth: 618.382852 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 562.519145 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776633;
longitude = -121.914566;
captureRadius = 10;
duration = 101;
initialDepth = 555.774989;
finalDepth = 562.519145;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.389675
#   Actual altitude: 55.389675
#   Commanded vehicle depth:562.519145 
#   Seafloor depth:-617.908820
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.56;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.56;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 78
#   Segment length 101.572836 meters
#   Minimum depth: 605.774989 meters looking forward 100.000000 meters along route
#   Maximum depth: 614.270244 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 555.774989 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776165;
longitude = -121.913595;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 549.309677;
finalDepth = 555.774989;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.901509
#   Actual altitude: 56.901509
#   Commanded vehicle depth:555.774989 
#   Seafloor depth:-612.676498
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.38;
MB_Bottom_Detect_Filter_Max_Range = 227.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 101.572836 meters
#   Minimum depth: 599.309677 meters looking forward 100.000000 meters along route
#   Maximum depth: 604.520343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 549.309677 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775858;
longitude = -121.912942;
captureRadius = 10;
duration = 101;
initialDepth = 549.061039;
finalDepth = 549.309677;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.901509
#   Actual altitude: 56.901509
#   Commanded vehicle depth:549.309677 
#   Seafloor depth:-604.520343
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.38;
MB_Bottom_Detect_Filter_Max_Range = 227.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 101.572836 meters
#   Minimum depth: 599.061039 meters looking forward 100.000000 meters along route
#   Maximum depth: 600.349570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 549.061039 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775384;
longitude = -121.911933;
captureRadius = 10;
duration = 101;
initialDepth = 546.727224;
finalDepth = 549.061039;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.2106660000001
#   Actual altitude: 55.2106660000001
#   Commanded vehicle depth:549.061039 
#   Seafloor depth:-600.349570
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.84;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.04;
MB_Bottom_Detect_Filter_Max_Range = 220.84;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.84;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 101.572836 meters
#   Minimum depth: 596.727224 meters looking forward 100.000000 meters along route
#   Maximum depth: 600.155595 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.727224 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774910;
longitude = -121.910925;
captureRadius = 10;
duration = 101;
initialDepth = 546.727224;
finalDepth = 546.727224;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.169344
#   Actual altitude: 53.169344
#   Commanded vehicle depth:546.727224 
#   Seafloor depth:-599.896568
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 77
#   Segment length 101.572836 meters
#   Minimum depth: 596.727224 meters looking forward 100.000000 meters along route
#   Maximum depth: 600.142176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 546.727224 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774453;
longitude = -121.909954;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 547.229473;
finalDepth = 546.727224;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.169344
#   Actual altitude: 53.169344
#   Commanded vehicle depth:546.727224 
#   Seafloor depth:-597.027939
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 101.572836 meters
#   Minimum depth: 597.229473 meters looking forward 100.000000 meters along route
#   Maximum depth: 601.891650 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 547.229473 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774401;
longitude = -121.909693;
captureRadius = 10;
duration = 101;
initialDepth = 551.930975;
finalDepth = 547.229473;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.300715
#   Actual altitude: 50.300715
#   Commanded vehicle depth:547.229473 
#   Seafloor depth:-597.229473
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.06;
MB_Bottom_Detect_Filter_Max_Range = 201.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 101.572836 meters
#   Minimum depth: 601.930975 meters looking forward 100.000000 meters along route
#   Maximum depth: 602.770151 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 551.930975 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774179;
longitude = -121.908572;
captureRadius = 10;
duration = 101;
initialDepth = 550.111734;
finalDepth = 551.930975;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.171124
#   Actual altitude: 50.171124
#   Commanded vehicle depth:551.930975 
#   Seafloor depth:-602.102099
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.03;
MB_Bottom_Detect_Filter_Max_Range = 200.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 101.572836 meters
#   Minimum depth: 600.111734 meters looking forward 100.000000 meters along route
#   Maximum depth: 602.851344 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 550.111734 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773958;
longitude = -121.907452;
captureRadius = 10;
duration = 101;
initialDepth = 549.892485;
finalDepth = 550.111734;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.685114
#   Actual altitude: 52.685114
#   Commanded vehicle depth:550.111734 
#   Seafloor depth:-602.796848
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 76
#   Segment length 101.572836 meters
#   Minimum depth: 599.892485 meters looking forward 100.000000 meters along route
#   Maximum depth: 602.719161 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 549.892485 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773732;
longitude = -121.906313;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 548.689028;
finalDepth = 549.892485;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.685114
#   Actual altitude: 52.685114
#   Commanded vehicle depth:549.892485 
#   Seafloor depth:-600.244537
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 101.572836 meters
#   Minimum depth: 598.689028 meters looking forward 100.000000 meters along route
#   Maximum depth: 601.337206 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.689028 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773722;
longitude = -121.906163;
captureRadius = 10;
duration = 101;
initialDepth = 548.193504;
finalDepth = 548.689028;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.1632059999999
#   Actual altitude: 51.1632059999999
#   Commanded vehicle depth:548.689028 
#   Seafloor depth:-599.852234
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.23;
MB_Bottom_Detect_Filter_Max_Range = 204.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 101.572836 meters
#   Minimum depth: 598.193504 meters looking forward 100.000000 meters along route
#   Maximum depth: 600.978577 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 548.193504 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773650;
longitude = -121.905043;
captureRadius = 10;
duration = 101;
initialDepth = 544.734259;
finalDepth = 548.193504;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.785073
#   Actual altitude: 52.785073
#   Commanded vehicle depth:548.193504 
#   Seafloor depth:-600.978577
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.14;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.14;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 101.572836 meters
#   Minimum depth: 594.734259 meters looking forward 100.000000 meters along route
#   Maximum depth: 597.989480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 544.734259 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773578;
longitude = -121.903923;
captureRadius = 10;
duration = 101;
initialDepth = 542.746355;
finalDepth = 544.734259;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.255221
#   Actual altitude: 53.255221
#   Commanded vehicle depth:544.734259 
#   Seafloor depth:-597.989480
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.65;
MB_Bottom_Detect_Filter_Max_Range = 213.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 101.572836 meters
#   Minimum depth: 592.746355 meters looking forward 100.000000 meters along route
#   Maximum depth: 594.731788 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 542.746355 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773506;
longitude = -121.902802;
captureRadius = 10;
duration = 101;
initialDepth = 539.289910;
finalDepth = 542.746355;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.255221
#   Actual altitude: 53.255221
#   Commanded vehicle depth:542.746355 
#   Seafloor depth:-594.731788
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.02;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.65;
MB_Bottom_Detect_Filter_Max_Range = 213.02;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.02;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 75
#   Segment length 101.572836 meters
#   Minimum depth: 589.289910 meters looking forward 100.000000 meters along route
#   Maximum depth: 593.374329 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 539.289910 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773431;
longitude = -121.901645;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 534.821583;
finalDepth = 539.289910;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.294303
#   Actual altitude: 53.294303
#   Commanded vehicle depth:539.28991 
#   Seafloor depth:-592.584213
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.18;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.66;
MB_Bottom_Detect_Filter_Max_Range = 213.18;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.18;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 101.572836 meters
#   Minimum depth: 584.821583 meters looking forward 100.000000 meters along route
#   Maximum depth: 589.061628 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 534.821583 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.773781;
longitude = -121.900842;
captureRadius = 10;
duration = 101;
initialDepth = 519.856954;
finalDepth = 534.821583;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.240045
#   Actual altitude: 54.240045
#   Commanded vehicle depth:534.821583 
#   Seafloor depth:-589.061628
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.85;
MB_Bottom_Detect_Filter_Max_Range = 216.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 74
#   Segment length 101.572836 meters
#   Minimum depth: 569.856954 meters looking forward 100.000000 meters along route
#   Maximum depth: 585.963773 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.856954 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774228;
longitude = -121.899815;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 519.869598;
finalDepth = 519.856954;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.4036510000001
#   Actual altitude: 65.4036510000001
#   Commanded vehicle depth:519.856954 
#   Seafloor depth:-585.260605
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 261.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.08;
MB_Bottom_Detect_Filter_Max_Range = 261.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 261.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.572836 meters
#   Minimum depth: 569.869598 meters looking forward 100.000000 meters along route
#   Maximum depth: 581.803761 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 519.869598 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.774573;
longitude = -121.899492;
captureRadius = 10;
duration = 101;
initialDepth = 511.078584;
finalDepth = 519.869598;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.4036510000001
#   Actual altitude: 65.4036510000001
#   Commanded vehicle depth:519.869598 
#   Seafloor depth:-569.869598
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 261.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.08;
MB_Bottom_Detect_Filter_Max_Range = 261.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 261.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.572836 meters
#   Minimum depth: 561.078584 meters looking forward 100.000000 meters along route
#   Maximum depth: 579.100223 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.078584 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.775294;
longitude = -121.898818;
captureRadius = 10;
duration = 101;
initialDepth = 511.078584;
finalDepth = 511.078584;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.0216390000001
#   Actual altitude: 68.0216390000001
#   Commanded vehicle depth:511.078584 
#   Seafloor depth:-579.100223
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 272.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.60;
MB_Bottom_Detect_Filter_Max_Range = 272.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 272.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 73
#   Segment length 101.572836 meters
#   Minimum depth: 561.078584 meters looking forward 100.000000 meters along route
#   Maximum depth: 576.394740 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 511.078584 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776045;
longitude = -121.898115;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 516.194312;
finalDepth = 511.078584;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.0216390000001
#   Actual altitude: 68.0216390000001
#   Commanded vehicle depth:511.078584 
#   Seafloor depth:-575.564926
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 272.09;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.60;
MB_Bottom_Detect_Filter_Max_Range = 272.09;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 272.09;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 73
#   Segment length 101.572836 meters
#   Minimum depth: 574.117988 meters looking forward 100.000000 meters along route
#   Maximum depth: 576.635060 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.194312 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.776195;
longitude = -121.898156;
captureRadius = 10;
duration = 101;
initialDepth = 521.342333;
finalDepth = 516.194312;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 64.486342
#   Actual altitude: 64.486342
#   Commanded vehicle depth:516.1943124 
#   Seafloor depth:-575.086079
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 257.95;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.90;
MB_Bottom_Detect_Filter_Max_Range = 257.95;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 257.95;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 72
#   Segment length 101.572836 meters
#   Minimum depth: 571.342333 meters looking forward 100.000000 meters along route
#   Maximum depth: 576.296817 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 521.342333 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777081;
longitude = -121.898395;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 516.529799;
finalDepth = 521.342333;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.8917666000003
#   Actual altitude: 58.8917666000003
#   Commanded vehicle depth:521.342333 
#   Seafloor depth:-574.437363
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 235.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.78;
MB_Bottom_Detect_Filter_Max_Range = 235.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 235.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.572836 meters
#   Minimum depth: 566.529799 meters looking forward 100.000000 meters along route
#   Maximum depth: 573.432720 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 516.529799 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777341;
longitude = -121.898769;
captureRadius = 10;
duration = 101;
initialDepth = 512.127387;
finalDepth = 516.529799;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.902921
#   Actual altitude: 56.902921
#   Commanded vehicle depth:516.529799 
#   Seafloor depth:-573.432720
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.38;
MB_Bottom_Detect_Filter_Max_Range = 227.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 71
#   Segment length 101.572836 meters
#   Minimum depth: 562.127387 meters looking forward 100.000000 meters along route
#   Maximum depth: 568.042505 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 512.127387 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.777938;
longitude = -121.899628;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 507.708758;
finalDepth = 512.127387;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.902921
#   Actual altitude: 56.902921
#   Commanded vehicle depth:512.127387 
#   Seafloor depth:-566.559296
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.38;
MB_Bottom_Detect_Filter_Max_Range = 227.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 71
#   Segment length 101.572836 meters
#   Minimum depth: 557.708758 meters looking forward 100.000000 meters along route
#   Maximum depth: 561.944963 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 507.708758 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778285;
longitude = -121.900113;
captureRadius = 10;
duration = 101;
initialDepth = 497.443015;
finalDepth = 507.708758;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.431909
#   Actual altitude: 54.431909
#   Commanded vehicle depth:507.708758 
#   Seafloor depth:-561.944963
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 71
#   Segment length 101.572836 meters
#   Minimum depth: 547.443015 meters looking forward 100.000000 meters along route
#   Maximum depth: 557.018559 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 497.443015 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.778886;
longitude = -121.900954;
captureRadius = 10;
duration = 101;
initialDepth = 490.449087;
finalDepth = 497.443015;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.575544
#   Actual altitude: 59.575544
#   Commanded vehicle depth:497.443015 
#   Seafloor depth:-557.018559
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 238.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.92;
MB_Bottom_Detect_Filter_Max_Range = 238.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 238.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 71
#   Segment length 101.572836 meters
#   Minimum depth: 540.449087 meters looking forward 100.000000 meters along route
#   Maximum depth: 547.381490 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 490.449087 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.779487;
longitude = -121.901794;
captureRadius = 10;
duration = 101;
initialDepth = 489.683595;
finalDepth = 490.449087;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.575544
#   Actual altitude: 59.575544
#   Commanded vehicle depth:490.449087 
#   Seafloor depth:-547.381490
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 238.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.92;
MB_Bottom_Detect_Filter_Max_Range = 238.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 238.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 70
#   Segment length 101.572836 meters
#   Minimum depth: 539.683595 meters looking forward 100.000000 meters along route
#   Maximum depth: 541.518586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.683595 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780101;
longitude = -121.902653;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 489.562254;
finalDepth = 489.683595;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.932403
#   Actual altitude: 56.932403
#   Commanded vehicle depth:489.683595 
#   Seafloor depth:-540.725723
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 227.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.39;
MB_Bottom_Detect_Filter_Max_Range = 227.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 227.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.572836 meters
#   Minimum depth: 539.562254 meters looking forward 100.000000 meters along route
#   Maximum depth: 547.244534 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 489.562254 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.780611;
longitude = -121.902964;
captureRadius = 10;
duration = 101;
initialDepth = 494.339496;
finalDepth = 489.562254;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.042128
#   Actual altitude: 51.042128
#   Commanded vehicle depth:489.562254 
#   Seafloor depth:-539.694255
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.572836 meters
#   Minimum depth: 544.339496 meters looking forward 100.000000 meters along route
#   Maximum depth: 549.770830 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 494.339496 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.781422;
longitude = -121.903457;
captureRadius = 10;
duration = 101;
initialDepth = 495.728296;
finalDepth = 494.339496;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.201252
#   Actual altitude: 53.201252
#   Commanded vehicle depth:494.339496 
#   Seafloor depth:-547.540748
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 69
#   Segment length 101.572836 meters
#   Minimum depth: 545.728296 meters looking forward 100.000000 meters along route
#   Maximum depth: 550.055629 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 495.728296 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782248;
longitude = -121.903960;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 491.471255;
finalDepth = 495.728296;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.20368
#   Actual altitude: 54.20368
#   Commanded vehicle depth:495.728296 
#   Seafloor depth:-549.931976
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 101.572836 meters
#   Minimum depth: 541.471255 meters looking forward 100.000000 meters along route
#   Maximum depth: 546.987451 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 491.471255 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.782774;
longitude = -121.903712;
captureRadius = 10;
duration = 101;
initialDepth = 487.754304;
finalDepth = 491.471255;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.5161959999999
#   Actual altitude: 55.5161959999999
#   Commanded vehicle depth:491.471255 
#   Seafloor depth:-546.987451
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.10;
MB_Bottom_Detect_Filter_Max_Range = 222.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 69
#   Segment length 101.572836 meters
#   Minimum depth: 537.754304 meters looking forward 100.000000 meters along route
#   Maximum depth: 541.465882 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 487.754304 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.783633;
longitude = -121.903306;
captureRadius = 10;
duration = 101;
initialDepth = 485.035211;
finalDepth = 487.754304;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.5161959999999
#   Actual altitude: 55.5161959999999
#   Commanded vehicle depth:487.754304 
#   Seafloor depth:-541.465882
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 222.06;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.10;
MB_Bottom_Detect_Filter_Max_Range = 222.06;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 222.06;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 68
#   Segment length 101.572836 meters
#   Minimum depth: 535.035211 meters looking forward 100.000000 meters along route
#   Maximum depth: 537.725775 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 485.035211 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.784502;
longitude = -121.902896;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 483.030309;
finalDepth = 485.035211;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.7115779999999
#   Actual altitude: 53.7115779999999
#   Commanded vehicle depth:485.035211 
#   Seafloor depth:-537.710236
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.74;
MB_Bottom_Detect_Filter_Max_Range = 214.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.572836 meters
#   Minimum depth: 533.030309 meters looking forward 100.000000 meters along route
#   Maximum depth: 534.857556 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 483.030309 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.785388;
longitude = -121.902933;
captureRadius = 10;
duration = 101;
initialDepth = 482.304439;
finalDepth = 483.030309;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.675025
#   Actual altitude: 52.675025
#   Commanded vehicle depth:483.030309 
#   Seafloor depth:-534.792199
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.54;
MB_Bottom_Detect_Filter_Max_Range = 210.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.572836 meters
#   Minimum depth: 532.304439 meters looking forward 100.000000 meters along route
#   Maximum depth: 533.138185 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 482.304439 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.786295;
longitude = -121.902970;
captureRadius = 10;
duration = 101;
initialDepth = 481.214979;
finalDepth = 482.304439;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.76189
#   Actual altitude: 51.76189
#   Commanded vehicle depth:482.304439 
#   Seafloor depth:-533.030947
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.35;
MB_Bottom_Detect_Filter_Max_Range = 207.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 67
#   Segment length 101.572836 meters
#   Minimum depth: 531.214979 meters looking forward 100.000000 meters along route
#   Maximum depth: 532.831570 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 481.214979 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787205;
longitude = -121.903008;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 479.777631;
finalDepth = 481.214979;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.079836
#   Actual altitude: 51.079836
#   Commanded vehicle depth:481.214979 
#   Seafloor depth:-532.294815
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.32;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.22;
MB_Bottom_Detect_Filter_Max_Range = 204.32;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.32;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.572836 meters
#   Minimum depth: 529.777631 meters looking forward 100.000000 meters along route
#   Maximum depth: 531.595644 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 479.777631 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.787686;
longitude = -121.903033;
captureRadius = 10;
duration = 101;
initialDepth = 478.021028;
finalDepth = 479.777631;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.284944
#   Actual altitude: 51.284944
#   Commanded vehicle depth:479.777631 
#   Seafloor depth:-531.062575
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.14;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.26;
MB_Bottom_Detect_Filter_Max_Range = 205.14;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.14;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.572836 meters
#   Minimum depth: 528.021028 meters looking forward 100.000000 meters along route
#   Maximum depth: 529.590271 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 478.021028 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788587;
longitude = -121.903081;
captureRadius = 10;
duration = 101;
initialDepth = 473.281837;
finalDepth = 478.021028;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.5581570000001
#   Actual altitude: 51.5581570000001
#   Commanded vehicle depth:478.021028 
#   Seafloor depth:-529.579185
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.23;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.31;
MB_Bottom_Detect_Filter_Max_Range = 206.23;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.23;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 67
#   Segment length 101.572836 meters
#   Minimum depth: 523.281837 meters looking forward 100.000000 meters along route
#   Maximum depth: 527.866282 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 473.281837 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789488;
longitude = -121.903128;
captureRadius = 10;
duration = 101;
initialDepth = 468.680138;
finalDepth = 473.281837;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.584445
#   Actual altitude: 54.584445
#   Commanded vehicle depth:473.281837 
#   Seafloor depth:-527.866282
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.92;
MB_Bottom_Detect_Filter_Max_Range = 218.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 66
#   Segment length 101.572836 meters
#   Minimum depth: 518.680138 meters looking forward 100.000000 meters along route
#   Maximum depth: 524.188174 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 468.680138 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790405;
longitude = -121.903176;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 449.705519;
finalDepth = 468.680138;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.584445
#   Actual altitude: 54.584445
#   Commanded vehicle depth:468.680138 
#   Seafloor depth:-523.096359
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.92;
MB_Bottom_Detect_Filter_Max_Range = 218.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.572836 meters
#   Minimum depth: 499.705519 meters looking forward 100.000000 meters along route
#   Maximum depth: 517.993855 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 449.705519 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791065;
longitude = -121.903221;
captureRadius = 10;
duration = 101;
initialDepth = 447.845880;
finalDepth = 449.705519;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.2883360000001
#   Actual altitude: 68.2883360000001
#   Commanded vehicle depth:449.705519 
#   Seafloor depth:-517.993855
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 273.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.66;
MB_Bottom_Detect_Filter_Max_Range = 273.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 273.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.572836 meters
#   Minimum depth: 497.845880 meters looking forward 100.000000 meters along route
#   Maximum depth: 500.151514 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 447.845880 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791967;
longitude = -121.903282;
captureRadius = 10;
duration = 101;
initialDepth = 442.433902;
finalDepth = 447.845880;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.2883360000001
#   Actual altitude: 68.2883360000001
#   Commanded vehicle depth:447.84588 
#   Seafloor depth:-499.473939
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 273.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.66;
MB_Bottom_Detect_Filter_Max_Range = 273.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 273.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 65
#   Segment length 101.572836 meters
#   Minimum depth: 492.433902 meters looking forward 100.000000 meters along route
#   Maximum depth: 498.331283 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 442.433902 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792883;
longitude = -121.903344;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 435.807235;
finalDepth = 442.433902;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.872716
#   Actual altitude: 54.872716
#   Commanded vehicle depth:442.433902 
#   Seafloor depth:-497.306618
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.97;
MB_Bottom_Detect_Filter_Max_Range = 219.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 101.572836 meters
#   Minimum depth: 485.807235 meters looking forward 100.000000 meters along route
#   Maximum depth: 492.397189 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.807235 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793458;
longitude = -121.903530;
captureRadius = 10;
duration = 101;
initialDepth = 434.990998;
finalDepth = 435.807235;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.589954
#   Actual altitude: 56.589954
#   Commanded vehicle depth:435.807235 
#   Seafloor depth:-492.397189
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.32;
MB_Bottom_Detect_Filter_Max_Range = 226.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 65
#   Segment length 101.572836 meters
#   Minimum depth: 484.990998 meters looking forward 100.000000 meters along route
#   Maximum depth: 488.758036 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 434.990998 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794355;
longitude = -121.903822;
captureRadius = 10;
duration = 101;
initialDepth = 422.728551;
finalDepth = 434.990998;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.589954
#   Actual altitude: 56.589954
#   Commanded vehicle depth:434.990998 
#   Seafloor depth:-485.563531
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 226.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.32;
MB_Bottom_Detect_Filter_Max_Range = 226.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 226.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 64
#   Segment length 101.572836 meters
#   Minimum depth: 472.728551 meters looking forward 100.000000 meters along route
#   Maximum depth: 488.758036 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 422.728551 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795241;
longitude = -121.904109;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 420.149478;
finalDepth = 422.728551;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 64.167453
#   Actual altitude: 64.167453
#   Commanded vehicle depth:422.728551 
#   Seafloor depth:-486.896004
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 256.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.83;
MB_Bottom_Detect_Filter_Max_Range = 256.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 256.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.572836 meters
#   Minimum depth: 470.149478 meters looking forward 100.000000 meters along route
#   Maximum depth: 491.113759 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 420.149478 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795707;
longitude = -121.903940;
captureRadius = 10;
duration = 101;
initialDepth = 433.484091;
finalDepth = 420.149478;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 64.167453
#   Actual altitude: 64.167453
#   Commanded vehicle depth:420.149478 
#   Seafloor depth:-471.642757
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 256.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.83;
MB_Bottom_Detect_Filter_Max_Range = 256.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 256.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 63
#   Segment length 101.572836 meters
#   Minimum depth: 483.484091 meters looking forward 100.000000 meters along route
#   Maximum depth: 495.863969 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 433.484091 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796578;
longitude = -121.903624;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 441.786509;
finalDepth = 433.484091;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.603624
#   Actual altitude: 58.603624
#   Commanded vehicle depth:433.484091 
#   Seafloor depth:-492.087715
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 234.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.72;
MB_Bottom_Detect_Filter_Max_Range = 234.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 234.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 101.572836 meters
#   Minimum depth: 491.786509 meters looking forward 100.000000 meters along route
#   Maximum depth: 494.798063 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 441.786509 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796779;
longitude = -121.902914;
captureRadius = 10;
duration = 101;
initialDepth = 435.408918;
finalDepth = 441.786509;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.603624
#   Actual altitude: 58.603624
#   Commanded vehicle depth:441.786509 
#   Seafloor depth:-494.798063
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 234.41;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.72;
MB_Bottom_Detect_Filter_Max_Range = 234.41;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 234.41;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 101.572836 meters
#   Minimum depth: 485.408918 meters looking forward 100.000000 meters along route
#   Maximum depth: 491.846200 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.408918 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797082;
longitude = -121.901850;
captureRadius = 10;
duration = 101;
initialDepth = 435.094948;
finalDepth = 435.408918;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.437282
#   Actual altitude: 56.437282
#   Commanded vehicle depth:435.408918 
#   Seafloor depth:-491.846200
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.29;
MB_Bottom_Detect_Filter_Max_Range = 225.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 62
#   Segment length 101.572836 meters
#   Minimum depth: 485.094948 meters looking forward 100.000000 meters along route
#   Maximum depth: 491.813406 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 435.094948 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797389;
longitude = -121.900767;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 416.489713;
finalDepth = 435.094948;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.437282
#   Actual altitude: 56.437282
#   Commanded vehicle depth:435.094948 
#   Seafloor depth:-485.094948
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.29;
MB_Bottom_Detect_Filter_Max_Range = 225.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 101.572836 meters
#   Minimum depth: 466.489713 meters looking forward 100.000000 meters along route
#   Maximum depth: 484.679709 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 416.489713 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797399;
longitude = -121.900730;
captureRadius = 10;
duration = 101;
initialDepth = 405.482363;
finalDepth = 416.489713;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.189996
#   Actual altitude: 68.189996
#   Commanded vehicle depth:416.489713 
#   Seafloor depth:-484.679709
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 272.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.64;
MB_Bottom_Detect_Filter_Max_Range = 272.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 272.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 101.572836 meters
#   Minimum depth: 455.482363 meters looking forward 100.000000 meters along route
#   Maximum depth: 466.488828 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 405.482363 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797689;
longitude = -121.899665;
captureRadius = 10;
duration = 101;
initialDepth = 399.985550;
finalDepth = 405.482363;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 68.189996
#   Actual altitude: 68.189996
#   Commanded vehicle depth:405.482363 
#   Seafloor depth:-466.488828
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 272.76;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.64;
MB_Bottom_Detect_Filter_Max_Range = 272.76;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 272.76;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 61
#   Segment length 101.572836 meters
#   Minimum depth: 449.985550 meters looking forward 100.000000 meters along route
#   Maximum depth: 456.475629 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 399.985550 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797990;
longitude = -121.898563;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 399.039257;
finalDepth = 399.985550;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.006465
#   Actual altitude: 61.006465
#   Commanded vehicle depth:399.98555 
#   Seafloor depth:-456.403946
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 244.03;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.20;
MB_Bottom_Detect_Filter_Max_Range = 244.03;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 244.03;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 60
#   Segment length 101.572836 meters
#   Minimum depth: 449.039257 meters looking forward 100.000000 meters along route
#   Maximum depth: 454.184935 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 399.039257 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797719;
longitude = -121.897667;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 405.414775;
finalDepth = 399.039257;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.418396
#   Actual altitude: 56.418396
#   Commanded vehicle depth:399.039257 
#   Seafloor depth:-449.675789
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 225.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.28;
MB_Bottom_Detect_Filter_Max_Range = 225.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 225.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 101.572836 meters
#   Minimum depth: 455.414775 meters looking forward 100.000000 meters along route
#   Maximum depth: 470.847834 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 405.414775 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797284;
longitude = -121.897775;
captureRadius = 10;
duration = 101;
initialDepth = 411.307977;
finalDepth = 405.414775;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.636532
#   Actual altitude: 50.636532
#   Commanded vehicle depth:405.414775 
#   Seafloor depth:-455.414775
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.55;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.13;
MB_Bottom_Detect_Filter_Max_Range = 202.55;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.55;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 59
#   Segment length 101.572836 meters
#   Minimum depth: 461.307977 meters looking forward 100.000000 meters along route
#   Maximum depth: 470.847834 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 411.307977 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796368;
longitude = -121.898003;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 413.834071;
finalDepth = 411.307977;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.074019
#   Actual altitude: 57.074019
#   Commanded vehicle depth:411.307977 
#   Seafloor depth:-468.381996
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 228.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.41;
MB_Bottom_Detect_Filter_Max_Range = 228.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 228.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 101.572836 meters
#   Minimum depth: 465.362754 meters looking forward 100.000000 meters along route
#   Maximum depth: 467.871337 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 413.834071 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796293;
longitude = -121.897993;
captureRadius = 10;
duration = 101;
initialDepth = 411.179800;
finalDepth = 413.834071;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.074019
#   Actual altitude: 57.074019
#   Commanded vehicle depth:413.8340709 
#   Seafloor depth:-467.871337
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 228.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.41;
MB_Bottom_Detect_Filter_Max_Range = 228.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 228.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 59
#   Segment length 101.572836 meters
#   Minimum depth: 461.179800 meters looking forward 100.000000 meters along route
#   Maximum depth: 466.187941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 411.179800 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795391;
longitude = -121.897869;
captureRadius = 10;
duration = 101;
initialDepth = 411.179800;
finalDepth = 411.179800;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.048805
#   Actual altitude: 54.048805
#   Commanded vehicle depth:411.1798 
#   Seafloor depth:-465.228605
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 58
#   Segment length 101.572836 meters
#   Minimum depth: 461.179800 meters looking forward 100.000000 meters along route
#   Maximum depth: 466.187941 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 411.179800 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794460;
longitude = -121.897742;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 407.342686;
finalDepth = 411.179800;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.048805
#   Actual altitude: 54.048805
#   Commanded vehicle depth:411.1798 
#   Seafloor depth:-461.254723
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.81;
MB_Bottom_Detect_Filter_Max_Range = 216.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.572836 meters
#   Minimum depth: 457.342686 meters looking forward 100.000000 meters along route
#   Maximum depth: 461.346372 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 407.342686 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794330;
longitude = -121.897593;
captureRadius = 10;
duration = 101;
initialDepth = 406.679557;
finalDepth = 407.342686;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.003686
#   Actual altitude: 54.003686
#   Commanded vehicle depth:407.342686 
#   Seafloor depth:-461.346372
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 216.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 57
#   Segment length 101.572836 meters
#   Minimum depth: 456.679557 meters looking forward 100.000000 meters along route
#   Maximum depth: 458.361557 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 406.679557 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793664;
longitude = -121.896827;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 401.207374;
finalDepth = 406.679557;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.003686
#   Actual altitude: 54.003686
#   Commanded vehicle depth:406.679557 
#   Seafloor depth:-458.036751
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.01;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 216.01;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.01;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 57
#   Segment length 101.572836 meters
#   Minimum depth: 451.207374 meters looking forward 100.000000 meters along route
#   Maximum depth: 456.557365 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.207374 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793544;
longitude = -121.896201;
captureRadius = 10;
duration = 101;
initialDepth = 401.079604;
finalDepth = 401.207374;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.349991
#   Actual altitude: 55.349991
#   Commanded vehicle depth:401.207374 
#   Seafloor depth:-456.557365
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 56
#   Segment length 101.572836 meters
#   Minimum depth: 451.079604 meters looking forward 100.000000 meters along route
#   Maximum depth: 454.282083 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 401.079604 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793334;
longitude = -121.895109;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 396.563982;
finalDepth = 401.079604;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.349991
#   Actual altitude: 55.349991
#   Commanded vehicle depth:401.079604 
#   Seafloor depth:-451.135635
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 101.572836 meters
#   Minimum depth: 446.563982 meters looking forward 100.000000 meters along route
#   Maximum depth: 451.365623 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 396.563982 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793526;
longitude = -121.894624;
captureRadius = 10;
duration = 101;
initialDepth = 394.372549;
finalDepth = 396.563982;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.801641
#   Actual altitude: 54.801641
#   Commanded vehicle depth:396.563982 
#   Seafloor depth:-451.365623
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 101.572836 meters
#   Minimum depth: 444.372549 meters looking forward 100.000000 meters along route
#   Maximum depth: 447.286199 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 394.372549 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793926;
longitude = -121.893615;
captureRadius = 10;
duration = 101;
initialDepth = 393.259149;
finalDepth = 394.372549;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.801641
#   Actual altitude: 54.801641
#   Commanded vehicle depth:394.372549 
#   Seafloor depth:-446.085175
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 101.572836 meters
#   Minimum depth: 443.259149 meters looking forward 100.000000 meters along route
#   Maximum depth: 447.027048 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 393.259149 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794326;
longitude = -121.892607;
captureRadius = 10;
duration = 101;
initialDepth = 392.961342;
finalDepth = 393.259149;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.767899
#   Actual altitude: 53.767899
#   Commanded vehicle depth:393.259149 
#   Seafloor depth:-447.027048
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 215.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 55
#   Segment length 101.572836 meters
#   Minimum depth: 442.961342 meters looking forward 100.000000 meters along route
#   Maximum depth: 445.563343 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 392.961342 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794742;
longitude = -121.891556;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 389.329080;
finalDepth = 392.961342;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.767899
#   Actual altitude: 53.767899
#   Commanded vehicle depth:392.961342 
#   Seafloor depth:-443.150475
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 215.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 101.572836 meters
#   Minimum depth: 439.329080 meters looking forward 100.000000 meters along route
#   Maximum depth: 443.813106 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 389.329080 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794806;
longitude = -121.891418;
captureRadius = 10;
duration = 101;
initialDepth = 384.212164;
finalDepth = 389.329080;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.01241
#   Actual altitude: 54.01241
#   Commanded vehicle depth:389.32908 
#   Seafloor depth:-443.341490
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.80;
MB_Bottom_Detect_Filter_Max_Range = 216.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 101.572836 meters
#   Minimum depth: 434.212164 meters looking forward 100.000000 meters along route
#   Maximum depth: 439.289705 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 384.212164 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795265;
longitude = -121.890422;
captureRadius = 10;
duration = 101;
initialDepth = 375.365979;
finalDepth = 384.212164;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.0775410000001
#   Actual altitude: 55.0775410000001
#   Commanded vehicle depth:384.212164 
#   Seafloor depth:-439.289705
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.31;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.02;
MB_Bottom_Detect_Filter_Max_Range = 220.31;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.31;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 55
#   Segment length 101.572836 meters
#   Minimum depth: 425.365979 meters looking forward 100.000000 meters along route
#   Maximum depth: 433.792111 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 375.365979 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795730;
longitude = -121.889414;
captureRadius = 10;
duration = 101;
initialDepth = 372.481871;
finalDepth = 375.365979;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.426132
#   Actual altitude: 58.426132
#   Commanded vehicle depth:375.365979 
#   Seafloor depth:-433.792111
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 233.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.69;
MB_Bottom_Detect_Filter_Max_Range = 233.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 233.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 54
#   Segment length 101.572836 meters
#   Minimum depth: 422.481871 meters looking forward 100.000000 meters along route
#   Maximum depth: 431.713480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 372.481871 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796187;
longitude = -121.888424;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 370.479930;
finalDepth = 372.481871;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.426132
#   Actual altitude: 58.426132
#   Commanded vehicle depth:372.481871 
#   Seafloor depth:-425.092239
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 233.70;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.69;
MB_Bottom_Detect_Filter_Max_Range = 233.70;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 233.70;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 101.572836 meters
#   Minimum depth: 420.479930 meters looking forward 100.000000 meters along route
#   Maximum depth: 422.254914 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 370.479930 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796215;
longitude = -121.888237;
captureRadius = 10;
duration = 101;
initialDepth = 372.264717;
finalDepth = 370.479930;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.610368
#   Actual altitude: 52.610368
#   Commanded vehicle depth:370.47993 
#   Seafloor depth:-421.923634
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.52;
MB_Bottom_Detect_Filter_Max_Range = 210.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 101.572836 meters
#   Minimum depth: 422.264717 meters looking forward 100.000000 meters along route
#   Maximum depth: 425.755325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 372.264717 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796383;
longitude = -121.887117;
captureRadius = 10;
duration = 101;
initialDepth = 369.024309;
finalDepth = 372.264717;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.443704
#   Actual altitude: 51.443704
#   Commanded vehicle depth:372.264717 
#   Seafloor depth:-422.264717
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.77;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.29;
MB_Bottom_Detect_Filter_Max_Range = 205.77;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.77;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 53
#   Segment length 101.572836 meters
#   Minimum depth: 419.024309 meters looking forward 100.000000 meters along route
#   Maximum depth: 425.755325 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 369.024309 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796548;
longitude = -121.886015;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 370.788454;
finalDepth = 369.024309;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.164061
#   Actual altitude: 55.164061
#   Commanded vehicle depth:369.024309 
#   Seafloor depth:-424.188370
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.66;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.03;
MB_Bottom_Detect_Filter_Max_Range = 220.66;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 101.572836 meters
#   Minimum depth: 420.788454 meters looking forward 100.000000 meters along route
#   Maximum depth: 425.503688 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 370.788454 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796252;
longitude = -121.885324;
captureRadius = 10;
duration = 101;
initialDepth = 374.466878;
finalDepth = 370.788454;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.164061
#   Actual altitude: 55.164061
#   Commanded vehicle depth:370.788454 
#   Seafloor depth:-420.788454
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.66;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.03;
MB_Bottom_Detect_Filter_Max_Range = 220.66;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.66;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 52
#   Segment length 101.572836 meters
#   Minimum depth: 424.466878 meters looking forward 100.000000 meters along route
#   Maximum depth: 425.503688 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 374.466878 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795827;
longitude = -121.884335;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 373.644550;
finalDepth = 374.466878;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.703296
#   Actual altitude: 50.703296
#   Commanded vehicle depth:374.466878 
#   Seafloor depth:-425.170174
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.14;
MB_Bottom_Detect_Filter_Max_Range = 202.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 101.572836 meters
#   Minimum depth: 423.644550 meters looking forward 100.000000 meters along route
#   Maximum depth: 425.552778 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 373.644550 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795365;
longitude = -121.883700;
captureRadius = 10;
duration = 101;
initialDepth = 370.244484;
finalDepth = 373.644550;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.876951
#   Actual altitude: 51.876951
#   Commanded vehicle depth:373.64455 
#   Seafloor depth:-425.521501
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 207.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.38;
MB_Bottom_Detect_Filter_Max_Range = 207.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 207.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 101.572836 meters
#   Minimum depth: 420.244484 meters looking forward 100.000000 meters along route
#   Maximum depth: 423.618200 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 370.244484 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794754;
longitude = -121.882860;
captureRadius = 10;
duration = 101;
initialDepth = 368.628694;
finalDepth = 370.244484;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.373716
#   Actual altitude: 53.373716
#   Commanded vehicle depth:370.244484 
#   Seafloor depth:-423.618200
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 51
#   Segment length 101.572836 meters
#   Minimum depth: 418.628694 meters looking forward 100.000000 meters along route
#   Maximum depth: 421.532378 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 368.628694 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794115;
longitude = -121.881982;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 365.495709;
finalDepth = 368.628694;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.373716
#   Actual altitude: 53.373716
#   Commanded vehicle depth:368.628694 
#   Seafloor depth:-419.975418
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.49;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.67;
MB_Bottom_Detect_Filter_Max_Range = 213.49;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.49;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.572836 meters
#   Minimum depth: 415.495709 meters looking forward 100.000000 meters along route
#   Maximum depth: 418.697451 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 365.495709 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793859;
longitude = -121.881652;
captureRadius = 10;
duration = 101;
initialDepth = 361.938064;
finalDepth = 365.495709;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.201742
#   Actual altitude: 53.201742
#   Commanded vehicle depth:365.495709 
#   Seafloor depth:-418.697451
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.81;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.64;
MB_Bottom_Detect_Filter_Max_Range = 212.81;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.81;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.572836 meters
#   Minimum depth: 411.938064 meters looking forward 100.000000 meters along route
#   Maximum depth: 415.462042 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 361.938064 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793228;
longitude = -121.880838;
captureRadius = 10;
duration = 101;
initialDepth = 361.938064;
finalDepth = 361.938064;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.523978
#   Actual altitude: 53.523978
#   Commanded vehicle depth:361.938064 
#   Seafloor depth:-415.462042
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.70;
MB_Bottom_Detect_Filter_Max_Range = 214.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 50
#   Segment length 101.572836 meters
#   Minimum depth: 411.938064 meters looking forward 100.000000 meters along route
#   Maximum depth: 414.030996 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 361.938064 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792567;
longitude = -121.879984;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 361.983129;
finalDepth = 361.938064;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.523978
#   Actual altitude: 53.523978
#   Commanded vehicle depth:361.938064 
#   Seafloor depth:-412.358231
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.10;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.70;
MB_Bottom_Detect_Filter_Max_Range = 214.10;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.10;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 101.572836 meters
#   Minimum depth: 411.983129 meters looking forward 100.000000 meters along route
#   Maximum depth: 413.836303 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 361.983129 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792531;
longitude = -121.879835;
captureRadius = 10;
duration = 101;
initialDepth = 360.382477;
finalDepth = 361.983129;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.216549
#   Actual altitude: 51.216549
#   Commanded vehicle depth:361.983129 
#   Seafloor depth:-413.199678
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.87;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.87;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.87;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 101.572836 meters
#   Minimum depth: 410.382477 meters looking forward 100.000000 meters along route
#   Maximum depth: 411.932243 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 360.382477 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792261;
longitude = -121.878714;
captureRadius = 10;
duration = 101;
initialDepth = 352.799096;
finalDepth = 360.382477;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.456103
#   Actual altitude: 51.456103
#   Commanded vehicle depth:360.382477 
#   Seafloor depth:-411.838580
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.82;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.29;
MB_Bottom_Detect_Filter_Max_Range = 205.82;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.82;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 101.572836 meters
#   Minimum depth: 402.799096 meters looking forward 100.000000 meters along route
#   Maximum depth: 410.060176 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 352.799096 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791991;
longitude = -121.877594;
captureRadius = 10;
duration = 101;
initialDepth = 351.364325;
finalDepth = 352.799096;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.26108
#   Actual altitude: 57.26108
#   Commanded vehicle depth:352.799096 
#   Seafloor depth:-410.060176
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.45;
MB_Bottom_Detect_Filter_Max_Range = 229.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 49
#   Segment length 101.572836 meters
#   Minimum depth: 401.364325 meters looking forward 100.000000 meters along route
#   Maximum depth: 407.188088 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 351.364325 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791726;
longitude = -121.876492;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 343.924302;
finalDepth = 351.364325;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.26108
#   Actual altitude: 57.26108
#   Commanded vehicle depth:351.364325 
#   Seafloor depth:-402.276642
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.04;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.45;
MB_Bottom_Detect_Filter_Max_Range = 229.04;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.04;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 101.572836 meters
#   Minimum depth: 393.924302 meters looking forward 100.000000 meters along route
#   Maximum depth: 401.283501 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 343.924302 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791806;
longitude = -121.876137;
captureRadius = 10;
duration = 101;
initialDepth = 333.622173;
finalDepth = 343.924302;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.359199
#   Actual altitude: 57.359199
#   Commanded vehicle depth:343.924302 
#   Seafloor depth:-401.283501
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.44;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.47;
MB_Bottom_Detect_Filter_Max_Range = 229.44;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.44;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 101.572836 meters
#   Minimum depth: 383.622173 meters looking forward 100.000000 meters along route
#   Maximum depth: 393.955929 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 333.622173 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792059;
longitude = -121.875017;
captureRadius = 10;
duration = 101;
initialDepth = 325.192621;
finalDepth = 333.622173;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.301112
#   Actual altitude: 60.301112
#   Commanded vehicle depth:333.622173 
#   Seafloor depth:-393.923285
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 241.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.06;
MB_Bottom_Detect_Filter_Max_Range = 241.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 241.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 101.572836 meters
#   Minimum depth: 375.192621 meters looking forward 100.000000 meters along route
#   Maximum depth: 382.929550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 325.192621 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792311;
longitude = -121.873897;
captureRadius = 10;
duration = 101;
initialDepth = 321.884780;
finalDepth = 325.192621;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.301112
#   Actual altitude: 60.301112
#   Commanded vehicle depth:325.192621 
#   Seafloor depth:-382.929550
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 241.20;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.06;
MB_Bottom_Detect_Filter_Max_Range = 241.20;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 241.20;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 101.572836 meters
#   Minimum depth: 371.884780 meters looking forward 100.000000 meters along route
#   Maximum depth: 374.937066 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 321.884780 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792564;
longitude = -121.872776;
captureRadius = 10;
duration = 101;
initialDepth = 321.884780;
finalDepth = 321.884780;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.736929
#   Actual altitude: 57.736929
#   Commanded vehicle depth:321.88478 
#   Seafloor depth:-374.937066
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 230.95;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.55;
MB_Bottom_Detect_Filter_Max_Range = 230.95;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 230.95;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 48
#   Segment length 101.572836 meters
#   Minimum depth: 371.884780 meters looking forward 100.000000 meters along route
#   Maximum depth: 373.677732 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 321.884780 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792813;
longitude = -121.871671;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 322.688522;
finalDepth = 321.884780;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.052286
#   Actual altitude: 53.052286
#   Commanded vehicle depth:321.88478 
#   Seafloor depth:-372.491302
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.61;
MB_Bottom_Detect_Filter_Max_Range = 212.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 101.572836 meters
#   Minimum depth: 372.688522 meters looking forward 100.000000 meters along route
#   Maximum depth: 375.991195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 322.688522 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793003;
longitude = -121.871205;
captureRadius = 10;
duration = 101;
initialDepth = 325.997005;
finalDepth = 322.688522;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.606522
#   Actual altitude: 50.606522
#   Commanded vehicle depth:322.688522 
#   Seafloor depth:-372.870442
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.43;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.12;
MB_Bottom_Detect_Filter_Max_Range = 202.43;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.43;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 101.572836 meters
#   Minimum depth: 375.997005 meters looking forward 100.000000 meters along route
#   Maximum depth: 381.585657 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 325.997005 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793413;
longitude = -121.870199;
captureRadius = 10;
duration = 101;
initialDepth = 331.327289;
finalDepth = 325.997005;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.18192
#   Actual altitude: 50.18192
#   Commanded vehicle depth:325.997005 
#   Seafloor depth:-375.997005
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.73;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.04;
MB_Bottom_Detect_Filter_Max_Range = 200.73;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.73;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 101.572836 meters
#   Minimum depth: 381.327289 meters looking forward 100.000000 meters along route
#   Maximum depth: 382.380689 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 331.327289 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793824;
longitude = -121.869191;
captureRadius = 10;
duration = 101;
initialDepth = 329.641285;
finalDepth = 331.327289;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.391822
#   Actual altitude: 50.391822
#   Commanded vehicle depth:331.327289 
#   Seafloor depth:-381.719111
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 201.57;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.08;
MB_Bottom_Detect_Filter_Max_Range = 201.57;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 201.57;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 47
#   Segment length 101.572836 meters
#   Minimum depth: 379.641285 meters looking forward 100.000000 meters along route
#   Maximum depth: 381.298119 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 329.641285 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794250;
longitude = -121.868145;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 328.599453;
finalDepth = 329.641285;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.656834
#   Actual altitude: 51.656834
#   Commanded vehicle depth:329.641285 
#   Seafloor depth:-381.298119
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.63;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.63;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 101.572836 meters
#   Minimum depth: 378.599453 meters looking forward 100.000000 meters along route
#   Maximum depth: 379.775829 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 328.599453 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794618;
longitude = -121.867118;
captureRadius = 10;
duration = 101;
initialDepth = 327.942116;
finalDepth = 328.599453;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.656834
#   Actual altitude: 51.656834
#   Commanded vehicle depth:328.599453 
#   Seafloor depth:-379.775829
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.63;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.63;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.63;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 101.572836 meters
#   Minimum depth: 377.942116 meters looking forward 100.000000 meters along route
#   Maximum depth: 378.887530 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 327.942116 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794986;
longitude = -121.866094;
captureRadius = 10;
duration = 101;
initialDepth = 326.367779;
finalDepth = 327.942116;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.176376
#   Actual altitude: 51.176376
#   Commanded vehicle depth:327.942116 
#   Seafloor depth:-378.677220
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.71;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.71;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.71;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 101.572836 meters
#   Minimum depth: 376.367779 meters looking forward 100.000000 meters along route
#   Maximum depth: 378.062954 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 326.367779 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795362;
longitude = -121.865046;
captureRadius = 10;
duration = 101;
initialDepth = 323.944338;
finalDepth = 326.367779;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.659544
#   Actual altitude: 51.659544
#   Commanded vehicle depth:326.367779 
#   Seafloor depth:-378.027323
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 46
#   Segment length 101.572836 meters
#   Minimum depth: 373.944338 meters looking forward 100.000000 meters along route
#   Maximum depth: 377.952583 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 323.944338 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795737;
longitude = -121.864000;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 320.818664;
finalDepth = 323.944338;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.305891
#   Actual altitude: 52.305891
#   Commanded vehicle depth:323.944338 
#   Seafloor depth:-376.250229
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.22;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.46;
MB_Bottom_Detect_Filter_Max_Range = 209.22;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.22;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 101.572836 meters
#   Minimum depth: 370.818664 meters looking forward 100.000000 meters along route
#   Maximum depth: 373.942936 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 320.818664 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796022;
longitude = -121.863645;
captureRadius = 10;
duration = 101;
initialDepth = 316.728270;
finalDepth = 320.818664;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.124272
#   Actual altitude: 53.124272
#   Commanded vehicle depth:320.818664 
#   Seafloor depth:-373.942936
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.50;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.50;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.50;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 101.572836 meters
#   Minimum depth: 366.728270 meters looking forward 100.000000 meters along route
#   Maximum depth: 370.884075 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 316.728270 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796698;
longitude = -121.862805;
captureRadius = 10;
duration = 101;
initialDepth = 315.526576;
finalDepth = 316.728270;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.09039
#   Actual altitude: 54.09039
#   Commanded vehicle depth:316.72827 
#   Seafloor depth:-370.818660
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 45
#   Segment length 101.572836 meters
#   Minimum depth: 365.526576 meters looking forward 100.000000 meters along route
#   Maximum depth: 369.031279 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 315.526576 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797344;
longitude = -121.862002;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 308.187121;
finalDepth = 315.526576;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.09039
#   Actual altitude: 54.09039
#   Commanded vehicle depth:315.526576 
#   Seafloor depth:-366.727074
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.82;
MB_Bottom_Detect_Filter_Max_Range = 216.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 101.572836 meters
#   Minimum depth: 358.187121 meters looking forward 100.000000 meters along route
#   Maximum depth: 365.577785 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 308.187121 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797765;
longitude = -121.861629;
captureRadius = 10;
duration = 101;
initialDepth = 290.043886;
finalDepth = 308.187121;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.390664
#   Actual altitude: 57.390664
#   Commanded vehicle depth:308.187121 
#   Seafloor depth:-365.577785
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.56;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.48;
MB_Bottom_Detect_Filter_Max_Range = 229.56;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.56;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 101.572836 meters
#   Minimum depth: 340.043886 meters looking forward 100.000000 meters along route
#   Maximum depth: 357.394636 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 290.043886 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798501;
longitude = -121.860975;
captureRadius = 10;
duration = 101;
initialDepth = 280.177159;
finalDepth = 290.043886;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.35075
#   Actual altitude: 67.35075
#   Commanded vehicle depth:290.043886 
#   Seafloor depth:-357.394636
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 269.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.47;
MB_Bottom_Detect_Filter_Max_Range = 269.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 269.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 44
#   Segment length 101.572836 meters
#   Minimum depth: 330.177159 meters looking forward 100.000000 meters along route
#   Maximum depth: 352.845627 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 280.177159 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799237;
longitude = -121.860321;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 275.537833;
finalDepth = 280.177159;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 67.35075
#   Actual altitude: 67.35075
#   Commanded vehicle depth:280.177159 
#   Seafloor depth:-338.947342
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 269.40;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.47;
MB_Bottom_Detect_Filter_Max_Range = 269.40;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 269.40;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 101.572836 meters
#   Minimum depth: 325.537833 meters looking forward 100.000000 meters along route
#   Maximum depth: 329.958517 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 275.537833 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799672;
longitude = -121.860050;
captureRadius = 10;
duration = 101;
initialDepth = 262.724733;
finalDepth = 275.537833;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 58.770183
#   Actual altitude: 58.770183
#   Commanded vehicle depth:275.537833 
#   Seafloor depth:-329.958517
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 235.08;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.75;
MB_Bottom_Detect_Filter_Max_Range = 235.08;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 235.08;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 43
#   Segment length 101.572836 meters
#   Minimum depth: 312.724733 meters looking forward 100.000000 meters along route
#   Maximum depth: 326.766574 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 262.724733 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800498;
longitude = -121.859537;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 261.710356;
finalDepth = 262.724733;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 63.787657
#   Actual altitude: 63.787657
#   Commanded vehicle depth:262.724733 
#   Seafloor depth:-326.512390
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 255.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.76;
MB_Bottom_Detect_Filter_Max_Range = 255.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 255.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 42
#   Segment length 101.572836 meters
#   Minimum depth: 311.710356 meters looking forward 100.000000 meters along route
#   Maximum depth: 322.733150 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 261.710356 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800919;
longitude = -121.858678;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 262.207661;
finalDepth = 261.710356;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 63.787657
#   Actual altitude: 63.787657
#   Commanded vehicle depth:261.710356 
#   Seafloor depth:-312.433418
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 255.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.76;
MB_Bottom_Detect_Filter_Max_Range = 255.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 255.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.572836 meters
#   Minimum depth: 312.207661 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.074656 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 262.207661 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800838;
longitude = -121.858379;
captureRadius = 10;
duration = 101;
initialDepth = 266.835623;
finalDepth = 262.207661;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.723062
#   Actual altitude: 50.723062
#   Commanded vehicle depth:262.207661 
#   Seafloor depth:-312.207661
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.89;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.14;
MB_Bottom_Detect_Filter_Max_Range = 202.89;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.89;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 41
#   Segment length 101.572836 meters
#   Minimum depth: 316.835623 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.637167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 266.835623 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800543;
longitude = -121.857296;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 275.765677;
finalDepth = 266.835623;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.626535
#   Actual altitude: 60.626535
#   Commanded vehicle depth:266.835623 
#   Seafloor depth:-327.462158
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 242.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.13;
MB_Bottom_Detect_Filter_Max_Range = 242.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 242.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.572836 meters
#   Minimum depth: 327.454800 meters looking forward 100.000000 meters along route
#   Maximum depth: 328.900304 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 275.765677 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800376;
longitude = -121.857035;
captureRadius = 10;
duration = 101;
initialDepth = 276.585327;
finalDepth = 275.765677;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 60.626535
#   Actual altitude: 60.626535
#   Commanded vehicle depth:275.7656768 
#   Seafloor depth:-327.454800
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 242.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.13;
MB_Bottom_Detect_Filter_Max_Range = 242.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 242.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.572836 meters
#   Minimum depth: 326.585327 meters looking forward 100.000000 meters along route
#   Maximum depth: 328.924993 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 276.585327 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799802;
longitude = -121.856139;
captureRadius = 10;
duration = 101;
initialDepth = 276.585327;
finalDepth = 276.585327;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.339666
#   Actual altitude: 52.339666
#   Commanded vehicle depth:276.585327 
#   Seafloor depth:-328.924993
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 40
#   Segment length 101.572836 meters
#   Minimum depth: 326.585327 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.100480 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 276.585327 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799208;
longitude = -121.855212;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 274.604875;
finalDepth = 276.585327;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.339666
#   Actual altitude: 52.339666
#   Commanded vehicle depth:276.585327 
#   Seafloor depth:-326.995499
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.36;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.36;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.36;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 101.572836 meters
#   Minimum depth: 324.604875 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.032789 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 274.604875 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798996;
longitude = -121.855059;
captureRadius = 10;
duration = 101;
initialDepth = 274.578857;
finalDepth = 274.604875;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.24062
#   Actual altitude: 52.24062
#   Commanded vehicle depth:274.604875 
#   Seafloor depth:-326.845495
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 208.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 101.572836 meters
#   Minimum depth: 324.578857 meters looking forward 100.000000 meters along route
#   Maximum depth: 327.032789 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 274.578857 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798199;
longitude = -121.854483;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 271.398786;
finalDepth = 274.578857;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.24062
#   Actual altitude: 52.24062
#   Commanded vehicle depth:274.578857 
#   Seafloor depth:-324.578857
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 208.96;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 208.96;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 208.96;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.572836 meters
#   Minimum depth: 321.398786 meters looking forward 100.000000 meters along route
#   Maximum depth: 324.546608 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 271.398786 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798185;
longitude = -121.854470;
captureRadius = 10;
duration = 101;
initialDepth = 268.291913;
finalDepth = 271.398786;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.147822
#   Actual altitude: 53.147822
#   Commanded vehicle depth:271.398786 
#   Seafloor depth:-324.546608
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.572836 meters
#   Minimum depth: 318.291913 meters looking forward 100.000000 meters along route
#   Maximum depth: 321.397983 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 268.291913 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797464;
longitude = -121.853785;
captureRadius = 10;
duration = 101;
initialDepth = 267.277550;
finalDepth = 268.291913;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.147822
#   Actual altitude: 53.147822
#   Commanded vehicle depth:268.291913 
#   Seafloor depth:-321.397983
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.59;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.59;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.59;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 38
#   Segment length 101.572836 meters
#   Minimum depth: 317.277550 meters looking forward 100.000000 meters along route
#   Maximum depth: 318.938167 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 267.277550 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796705;
longitude = -121.853064;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 263.716317;
finalDepth = 267.277550;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.10607
#   Actual altitude: 53.10607
#   Commanded vehicle depth:267.27755 
#   Seafloor depth:-318.454590
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 101.572836 meters
#   Minimum depth: 313.716317 meters looking forward 100.000000 meters along route
#   Maximum depth: 317.275605 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 263.716317 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796367;
longitude = -121.852554;
captureRadius = 10;
duration = 101;
initialDepth = 260.649859;
finalDepth = 263.716317;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.559288
#   Actual altitude: 53.559288
#   Commanded vehicle depth:263.716317 
#   Seafloor depth:-317.275605
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.24;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.24;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 101.572836 meters
#   Minimum depth: 310.649859 meters looking forward 100.000000 meters along route
#   Maximum depth: 314.574783 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 260.649859 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795790;
longitude = -121.851681;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 257.515333;
finalDepth = 260.649859;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.559288
#   Actual altitude: 53.559288
#   Commanded vehicle depth:260.649859 
#   Seafloor depth:-313.683075
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.24;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.71;
MB_Bottom_Detect_Filter_Max_Range = 214.24;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 101.572836 meters
#   Minimum depth: 307.515333 meters looking forward 100.000000 meters along route
#   Maximum depth: 310.823826 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 257.515333 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795364;
longitude = -121.851041;
captureRadius = 10;
duration = 101;
initialDepth = 256.193388;
finalDepth = 257.515333;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.113901
#   Actual altitude: 53.113901
#   Commanded vehicle depth:257.515333 
#   Seafloor depth:-310.629234
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 36
#   Segment length 101.572836 meters
#   Minimum depth: 306.193388 meters looking forward 100.000000 meters along route
#   Maximum depth: 308.356717 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 256.193388 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794782;
longitude = -121.850168;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 251.673317;
finalDepth = 256.193388;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.113901
#   Actual altitude: 53.113901
#   Commanded vehicle depth:256.193388 
#   Seafloor depth:-307.652145
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.62;
MB_Bottom_Detect_Filter_Max_Range = 212.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 101.572836 meters
#   Minimum depth: 301.673317 meters looking forward 100.000000 meters along route
#   Maximum depth: 306.302045 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 251.673317 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794464;
longitude = -121.849360;
captureRadius = 10;
duration = 101;
initialDepth = 251.566681;
finalDepth = 251.673317;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.628728
#   Actual altitude: 54.628728
#   Commanded vehicle depth:251.673317 
#   Seafloor depth:-306.302045
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 35
#   Segment length 101.572836 meters
#   Minimum depth: 301.566681 meters looking forward 100.000000 meters along route
#   Maximum depth: 304.999905 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 251.566681 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794054;
longitude = -121.848319;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 247.507668;
finalDepth = 251.566681;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.628728
#   Actual altitude: 54.628728
#   Commanded vehicle depth:251.566681 
#   Seafloor depth:-301.678917
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.51;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.51;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.51;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.572836 meters
#   Minimum depth: 297.507668 meters looking forward 100.000000 meters along route
#   Maximum depth: 301.343326 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 247.507668 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793978;
longitude = -121.848128;
captureRadius = 10;
duration = 101;
initialDepth = 242.557753;
finalDepth = 247.507668;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.835658
#   Actual altitude: 53.835658
#   Commanded vehicle depth:247.507668 
#   Seafloor depth:-301.343326
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.34;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.77;
MB_Bottom_Detect_Filter_Max_Range = 215.34;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.34;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 101.572836 meters
#   Minimum depth: 292.557753 meters looking forward 100.000000 meters along route
#   Maximum depth: 297.346333 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 242.557753 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793574;
longitude = -121.847120;
captureRadius = 10;
duration = 101;
initialDepth = 240.362949;
finalDepth = 242.557753;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.78858
#   Actual altitude: 54.78858
#   Commanded vehicle depth:242.557753 
#   Seafloor depth:-297.346333
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 101.572836 meters
#   Minimum depth: 290.362949 meters looking forward 100.000000 meters along route
#   Maximum depth: 294.423768 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 240.362949 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793157;
longitude = -121.846077;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 236.425875;
finalDepth = 240.362949;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.78858
#   Actual altitude: 54.78858
#   Commanded vehicle depth:240.362949 
#   Seafloor depth:-292.429352
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 219.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.96;
MB_Bottom_Detect_Filter_Max_Range = 219.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 219.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 101.572836 meters
#   Minimum depth: 286.425875 meters looking forward 100.000000 meters along route
#   Maximum depth: 290.141521 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 236.425875 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792889;
longitude = -121.845383;
captureRadius = 10;
duration = 101;
initialDepth = 236.165660;
finalDepth = 236.425875;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.715646
#   Actual altitude: 53.715646
#   Commanded vehicle depth:236.425875 
#   Seafloor depth:-290.141521
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.86;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.74;
MB_Bottom_Detect_Filter_Max_Range = 214.86;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 101.572836 meters
#   Minimum depth: 286.165660 meters looking forward 100.000000 meters along route
#   Maximum depth: 289.013161 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 236.165660 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792485;
longitude = -121.844340;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 233.619995;
finalDepth = 236.165660;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.715646
#   Actual altitude: 53.715646
#   Commanded vehicle depth:236.16566 
#   Seafloor depth:-286.412033
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.86;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.74;
MB_Bottom_Detect_Filter_Max_Range = 214.86;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.86;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.572836 meters
#   Minimum depth: 283.619995 meters looking forward 100.000000 meters along route
#   Maximum depth: 285.880005 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 233.619995 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792401;
longitude = -121.843927;
captureRadius = 10;
duration = 101;
initialDepth = 230.437519;
finalDepth = 233.619995;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.970582
#   Actual altitude: 50.970582
#   Commanded vehicle depth:233.619995 
#   Seafloor depth:-284.590577
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 203.88;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.19;
MB_Bottom_Detect_Filter_Max_Range = 203.88;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 203.88;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.572836 meters
#   Minimum depth: 280.437519 meters looking forward 100.000000 meters along route
#   Maximum depth: 284.663874 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 230.437519 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792172;
longitude = -121.842806;
captureRadius = 10;
duration = 101;
initialDepth = 229.910242;
finalDepth = 230.437519;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.747843
#   Actual altitude: 53.747843
#   Commanded vehicle depth:230.437519 
#   Seafloor depth:-284.185362
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 101.572836 meters
#   Minimum depth: 279.910242 meters looking forward 100.000000 meters along route
#   Maximum depth: 284.663874 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 229.910242 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791944;
longitude = -121.841687;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 226.471479;
finalDepth = 229.910242;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.747843
#   Actual altitude: 53.747843
#   Commanded vehicle depth:229.910242 
#   Seafloor depth:-280.152405
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 101.572836 meters
#   Minimum depth: 276.471479 meters looking forward 100.000000 meters along route
#   Maximum depth: 279.601830 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 226.471479 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791931;
longitude = -121.841630;
captureRadius = 10;
duration = 101;
initialDepth = 220.521080;
finalDepth = 226.471479;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.130351
#   Actual altitude: 53.130351
#   Commanded vehicle depth:226.471479 
#   Seafloor depth:-279.601830
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 101.572836 meters
#   Minimum depth: 270.521080 meters looking forward 100.000000 meters along route
#   Maximum depth: 275.877036 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 220.521080 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791685;
longitude = -121.840510;
captureRadius = 10;
duration = 101;
initialDepth = 212.902559;
finalDepth = 220.521080;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.355956
#   Actual altitude: 55.355956
#   Commanded vehicle depth:220.52108 
#   Seafloor depth:-275.877036
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.42;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.42;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.42;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 101.572836 meters
#   Minimum depth: 262.902559 meters looking forward 100.000000 meters along route
#   Maximum depth: 270.308464 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 212.902559 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791439;
longitude = -121.839390;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 205.687528;
finalDepth = 212.902559;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.405905
#   Actual altitude: 57.405905
#   Commanded vehicle depth:212.902559 
#   Seafloor depth:-270.308464
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.48;
MB_Bottom_Detect_Filter_Max_Range = 229.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 101.572836 meters
#   Minimum depth: 255.687528 meters looking forward 100.000000 meters along route
#   Maximum depth: 262.775428 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 205.687528 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791018;
longitude = -121.838437;
captureRadius = 10;
duration = 101;
initialDepth = 205.512015;
finalDepth = 205.687528;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.405905
#   Actual altitude: 57.405905
#   Commanded vehicle depth:205.687528 
#   Seafloor depth:-262.775428
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 229.62;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.48;
MB_Bottom_Detect_Filter_Max_Range = 229.62;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 229.62;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 101.572836 meters
#   Minimum depth: 255.512015 meters looking forward 100.000000 meters along route
#   Maximum depth: 261.321211 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 205.512015 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790580;
longitude = -121.837447;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 204.031549;
finalDepth = 205.512015;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.0879
#   Actual altitude: 57.0879
#   Commanded vehicle depth:205.512015 
#   Seafloor depth:-255.854954
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 228.35;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.42;
MB_Bottom_Detect_Filter_Max_Range = 228.35;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 228.35;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 101.572836 meters
#   Minimum depth: 254.031549 meters looking forward 100.000000 meters along route
#   Maximum depth: 255.232192 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 204.031549 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790558;
longitude = -121.837373;
captureRadius = 10;
duration = 101;
initialDepth = 194.692509;
finalDepth = 204.031549;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.200643
#   Actual altitude: 51.200643
#   Commanded vehicle depth:204.031549 
#   Seafloor depth:-255.232192
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.80;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.24;
MB_Bottom_Detect_Filter_Max_Range = 204.80;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.80;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 101.572836 meters
#   Minimum depth: 244.692509 meters looking forward 100.000000 meters along route
#   Maximum depth: 254.314210 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 194.692509 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790243;
longitude = -121.836308;
captureRadius = 10;
duration = 101;
initialDepth = 194.624733;
finalDepth = 194.692509;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.618095
#   Actual altitude: 59.618095
#   Commanded vehicle depth:194.692509 
#   Seafloor depth:-254.310604
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 238.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.92;
MB_Bottom_Detect_Filter_Max_Range = 238.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 238.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 101.572836 meters
#   Minimum depth: 244.624733 meters looking forward 100.000000 meters along route
#   Maximum depth: 253.285239 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 194.624733 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789927;
longitude = -121.835243;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 188.318924;
finalDepth = 194.624733;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.618095
#   Actual altitude: 59.618095
#   Commanded vehicle depth:194.624733 
#   Seafloor depth:-244.642647
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 238.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.92;
MB_Bottom_Detect_Filter_Max_Range = 238.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 238.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.572836 meters
#   Minimum depth: 238.318924 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.488254 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 188.318924 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789896;
longitude = -121.835132;
captureRadius = 10;
duration = 101;
initialDepth = 187.691200;
finalDepth = 188.318924;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.16933
#   Actual altitude: 56.16933
#   Commanded vehicle depth:188.318924 
#   Seafloor depth:-244.488254
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.23;
MB_Bottom_Detect_Filter_Max_Range = 224.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 101.572836 meters
#   Minimum depth: 237.691200 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.734251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 187.691200 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789604;
longitude = -121.834067;
captureRadius = 10;
duration = 101;
initialDepth = 193.004075;
finalDepth = 187.691200;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.16933
#   Actual altitude: 56.16933
#   Commanded vehicle depth:187.6912 
#   Seafloor depth:-237.745884
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.68;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.23;
MB_Bottom_Detect_Filter_Max_Range = 224.68;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.68;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 101.572836 meters
#   Minimum depth: 243.004075 meters looking forward 100.000000 meters along route
#   Maximum depth: 244.734251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 193.004075 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789311;
longitude = -121.833001;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 187.616381;
finalDepth = 193.004075;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.477016
#   Actual altitude: 51.477016
#   Commanded vehicle depth:193.004075 
#   Seafloor depth:-244.481091
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 205.91;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.30;
MB_Bottom_Detect_Filter_Max_Range = 205.91;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 205.91;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 101.572836 meters
#   Minimum depth: 237.616381 meters looking forward 100.000000 meters along route
#   Maximum depth: 242.665334 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 187.616381 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789148;
longitude = -121.832275;
captureRadius = 10;
duration = 101;
initialDepth = 187.616381;
finalDepth = 187.616381;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.663201
#   Actual altitude: 54.663201
#   Commanded vehicle depth:187.616381 
#   Seafloor depth:-242.279582
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 101.572836 meters
#   Minimum depth: 237.616381 meters looking forward 100.000000 meters along route
#   Maximum depth: 242.665334 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 187.616381 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788900;
longitude = -121.831171;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 185.598565;
finalDepth = 187.616381;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.663201
#   Actual altitude: 54.663201
#   Commanded vehicle depth:187.616381 
#   Seafloor depth:-237.695393
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 101.572836 meters
#   Minimum depth: 235.598565 meters looking forward 100.000000 meters along route
#   Maximum depth: 237.886027 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 185.598565 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.788902;
longitude = -121.831152;
captureRadius = 10;
duration = 101;
initialDepth = 182.254895;
finalDepth = 185.598565;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.287462
#   Actual altitude: 52.287462
#   Commanded vehicle depth:185.598565 
#   Seafloor depth:-237.886027
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.15;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.46;
MB_Bottom_Detect_Filter_Max_Range = 209.15;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.15;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 101.572836 meters
#   Minimum depth: 232.254895 meters looking forward 100.000000 meters along route
#   Maximum depth: 235.837069 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 182.254895 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789050;
longitude = -121.830034;
captureRadius = 10;
duration = 101;
initialDepth = 177.605559;
finalDepth = 182.254895;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.869501
#   Actual altitude: 52.869501
#   Commanded vehicle depth:182.254895 
#   Seafloor depth:-235.124396
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.57;
MB_Bottom_Detect_Filter_Max_Range = 211.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 101.572836 meters
#   Minimum depth: 227.605559 meters looking forward 100.000000 meters along route
#   Maximum depth: 232.039513 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 177.605559 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789199;
longitude = -121.828910;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 172.926686;
finalDepth = 177.605559;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.433954
#   Actual altitude: 54.433954
#   Commanded vehicle depth:177.605559 
#   Seafloor depth:-232.039513
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 217.74;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.89;
MB_Bottom_Detect_Filter_Max_Range = 217.74;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 217.74;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 101.572836 meters
#   Minimum depth: 222.926686 meters looking forward 100.000000 meters along route
#   Maximum depth: 227.557251 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 172.926686 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789578;
longitude = -121.827891;
captureRadius = 10;
duration = 101;
initialDepth = 171.092245;
finalDepth = 172.926686;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.630565
#   Actual altitude: 54.630565
#   Commanded vehicle depth:172.926686 
#   Seafloor depth:-227.557251
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 101.572836 meters
#   Minimum depth: 221.092245 meters looking forward 100.000000 meters along route
#   Maximum depth: 224.169665 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 171.092245 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.789964;
longitude = -121.826856;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 170.437473;
finalDepth = 171.092245;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.630565
#   Actual altitude: 54.630565
#   Commanded vehicle depth:171.092245 
#   Seafloor depth:-222.752384
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.93;
MB_Bottom_Detect_Filter_Max_Range = 218.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 101.572836 meters
#   Minimum depth: 220.437473 meters looking forward 100.000000 meters along route
#   Maximum depth: 221.994130 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 170.437473 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790390;
longitude = -121.826221;
captureRadius = 10;
duration = 101;
initialDepth = 156.027188;
finalDepth = 170.437473;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.660139
#   Actual altitude: 51.660139
#   Commanded vehicle depth:170.437473 
#   Seafloor depth:-221.085156
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 206.64;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.33;
MB_Bottom_Detect_Filter_Max_Range = 206.64;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 206.64;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 101.572836 meters
#   Minimum depth: 206.027188 meters looking forward 100.000000 meters along route
#   Maximum depth: 221.521431 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 156.027188 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.790991;
longitude = -121.825324;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 167.658329;
finalDepth = 156.027188;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 64.581744
#   Actual altitude: 64.581744
#   Commanded vehicle depth:156.027188 
#   Seafloor depth:-220.608932
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 258.33;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.92;
MB_Bottom_Detect_Filter_Max_Range = 258.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 258.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 101.572836 meters
#   Minimum depth: 217.658329 meters looking forward 100.000000 meters along route
#   Maximum depth: 222.072996 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 167.658329 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.791528;
longitude = -121.824712;
captureRadius = 10;
duration = 101;
initialDepth = 166.913057;
finalDepth = 167.658329;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 64.581744
#   Actual altitude: 64.581744
#   Commanded vehicle depth:167.658329 
#   Seafloor depth:-217.658329
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 258.33;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.92;
MB_Bottom_Detect_Filter_Max_Range = 258.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 258.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 101.572836 meters
#   Minimum depth: 216.913057 meters looking forward 100.000000 meters along route
#   Maximum depth: 221.093676 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 166.913057 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792205;
longitude = -121.823941;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 166.189134;
finalDepth = 166.913057;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.725046
#   Actual altitude: 53.725046
#   Commanded vehicle depth:166.913057 
#   Seafloor depth:-220.638103
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 101.572836 meters
#   Minimum depth: 216.189134 meters looking forward 100.000000 meters along route
#   Maximum depth: 220.400661 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 166.189134 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.792653;
longitude = -121.823157;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 162.474495;
finalDepth = 166.189134;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.725046
#   Actual altitude: 53.725046
#   Commanded vehicle depth:166.189134 
#   Seafloor depth:-216.869995
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 214.90;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.75;
MB_Bottom_Detect_Filter_Max_Range = 214.90;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 214.90;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 101.572836 meters
#   Minimum depth: 212.474495 meters looking forward 100.000000 meters along route
#   Maximum depth: 216.661246 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 162.474495 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793003;
longitude = -121.822955;
captureRadius = 10;
duration = 101;
initialDepth = 159.640850;
finalDepth = 162.474495;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.186751
#   Actual altitude: 54.186751
#   Commanded vehicle depth:162.474495 
#   Seafloor depth:-216.661246
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 101.572836 meters
#   Minimum depth: 209.640850 meters looking forward 100.000000 meters along route
#   Maximum depth: 213.042309 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 159.640850 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.793848;
longitude = -121.822466;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 155.268456;
finalDepth = 159.640850;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.186751
#   Actual altitude: 54.186751
#   Commanded vehicle depth:159.64085 
#   Seafloor depth:-212.632553
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.75;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.75;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.75;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.572836 meters
#   Minimum depth: 205.268456 meters looking forward 100.000000 meters along route
#   Maximum depth: 209.463418 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 155.268456 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.794490;
longitude = -121.822180;
captureRadius = 10;
duration = 101;
initialDepth = 154.966833;
finalDepth = 155.268456;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.194962
#   Actual altitude: 54.194962
#   Commanded vehicle depth:155.268456 
#   Seafloor depth:-209.463418
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 101.572836 meters
#   Minimum depth: 204.966833 meters looking forward 100.000000 meters along route
#   Maximum depth: 208.701089 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 154.966833 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795361;
longitude = -121.821793;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 151.708780;
finalDepth = 154.966833;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.194962
#   Actual altitude: 54.194962
#   Commanded vehicle depth:154.966833 
#   Seafloor depth:-205.040436
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 216.78;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.84;
MB_Bottom_Detect_Filter_Max_Range = 216.78;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 216.78;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 101.572836 meters
#   Minimum depth: 201.708780 meters looking forward 100.000000 meters along route
#   Maximum depth: 204.882307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 151.708780 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.795572;
longitude = -121.821814;
captureRadius = 10;
duration = 101;
initialDepth = 148.920556;
finalDepth = 151.708780;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.173527
#   Actual altitude: 53.173527
#   Commanded vehicle depth:151.70878 
#   Seafloor depth:-204.882307
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 101.572836 meters
#   Minimum depth: 198.920556 meters looking forward 100.000000 meters along route
#   Maximum depth: 201.708780 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 148.920556 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.796481;
longitude = -121.821905;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 145.285534;
finalDepth = 148.920556;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.173527
#   Actual altitude: 53.173527
#   Commanded vehicle depth:148.920556 
#   Seafloor depth:-201.568363
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.572836 meters
#   Minimum depth: 195.285534 meters looking forward 100.000000 meters along route
#   Maximum depth: 198.613673 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 145.285534 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.797329;
longitude = -121.821994;
captureRadius = 10;
duration = 101;
initialDepth = 144.178039;
finalDepth = 145.285534;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.011743
#   Actual altitude: 53.011743
#   Commanded vehicle depth:145.285534 
#   Seafloor depth:-198.297277
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.60;
MB_Bottom_Detect_Filter_Max_Range = 212.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 101.572836 meters
#   Minimum depth: 194.178039 meters looking forward 100.000000 meters along route
#   Maximum depth: 197.588935 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 144.178039 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798255;
longitude = -121.822092;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 138.861748;
finalDepth = 144.178039;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.011743
#   Actual altitude: 53.011743
#   Commanded vehicle depth:144.178039 
#   Seafloor depth:-196.136227
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.05;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.60;
MB_Bottom_Detect_Filter_Max_Range = 212.05;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.05;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 101.572836 meters
#   Minimum depth: 188.861748 meters looking forward 100.000000 meters along route
#   Maximum depth: 193.476759 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 138.861748 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798636;
longitude = -121.822054;
captureRadius = 10;
duration = 101;
initialDepth = 138.546968;
finalDepth = 138.861748;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.615011
#   Actual altitude: 54.615011
#   Commanded vehicle depth:138.861748 
#   Seafloor depth:-193.476759
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.92;
MB_Bottom_Detect_Filter_Max_Range = 218.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 101.572836 meters
#   Minimum depth: 188.546968 meters looking forward 100.000000 meters along route
#   Maximum depth: 191.033307 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 138.546968 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799562;
longitude = -121.821961;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 135.619764;
finalDepth = 138.546968;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.615011
#   Actual altitude: 54.615011
#   Commanded vehicle depth:138.546968 
#   Seafloor depth:-190.551010
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.92;
MB_Bottom_Detect_Filter_Max_Range = 218.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 101.572836 meters
#   Minimum depth: 185.619764 meters looking forward 100.000000 meters along route
#   Maximum depth: 188.703909 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 135.619764 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799899;
longitude = -121.821233;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 131.593171;
finalDepth = 135.619764;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.824515
#   Actual altitude: 52.824515
#   Commanded vehicle depth:135.619764 
#   Seafloor depth:-188.444279
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 211.30;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.56;
MB_Bottom_Detect_Filter_Max_Range = 211.30;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 211.30;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 101.572836 meters
#   Minimum depth: 181.593171 meters looking forward 100.000000 meters along route
#   Maximum depth: 186.224139 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 131.593171 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799618;
longitude = -121.820168;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 128.784589;
finalDepth = 131.593171;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.803622
#   Actual altitude: 53.803622
#   Commanded vehicle depth:131.593171 
#   Seafloor depth:-185.396793
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.572836 meters
#   Minimum depth: 178.784589 meters looking forward 100.000000 meters along route
#   Maximum depth: 181.946093 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 128.784589 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799312;
longitude = -121.819355;
captureRadius = 10;
duration = 101;
initialDepth = 128.784589;
finalDepth = 128.784589;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.803622
#   Actual altitude: 53.803622
#   Commanded vehicle depth:128.784589 
#   Seafloor depth:-181.946093
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 215.21;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.76;
MB_Bottom_Detect_Filter_Max_Range = 215.21;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 215.21;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 101.572836 meters
#   Minimum depth: 178.784589 meters looking forward 100.000000 meters along route
#   Maximum depth: 181.897359 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 128.784589 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798928;
longitude = -121.818337;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 125.453570;
finalDepth = 128.784589;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.161504
#   Actual altitude: 53.161504
#   Commanded vehicle depth:128.784589 
#   Seafloor depth:-179.175449
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 212.65;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.63;
MB_Bottom_Detect_Filter_Max_Range = 212.65;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 212.65;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.572836 meters
#   Minimum depth: 175.453570 meters looking forward 100.000000 meters along route
#   Maximum depth: 178.872153 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 125.453570 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798839;
longitude = -121.818102;
captureRadius = 10;
duration = 101;
initialDepth = 123.359096;
finalDepth = 125.453570;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.418583
#   Actual altitude: 53.418583
#   Commanded vehicle depth:125.45357 
#   Seafloor depth:-178.872153
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.68;
MB_Bottom_Detect_Filter_Max_Range = 213.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 101.572836 meters
#   Minimum depth: 173.359096 meters looking forward 100.000000 meters along route
#   Maximum depth: 177.094096 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 123.359096 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798435;
longitude = -121.817038;
captureRadius = 10;
duration = 101;
initialDepth = 120.330287;
finalDepth = 123.359096;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.418583
#   Actual altitude: 53.418583
#   Commanded vehicle depth:123.359096 
#   Seafloor depth:-176.762536
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.67;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.68;
MB_Bottom_Detect_Filter_Max_Range = 213.67;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.67;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 101.572836 meters
#   Minimum depth: 170.330287 meters looking forward 100.000000 meters along route
#   Maximum depth: 173.635354 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 120.330287 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798050;
longitude = -121.816021;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 115.751346;
finalDepth = 120.330287;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 53.40344
#   Actual altitude: 53.40344
#   Commanded vehicle depth:120.330287 
#   Seafloor depth:-172.742649
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 213.61;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.68;
MB_Bottom_Detect_Filter_Max_Range = 213.61;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 213.61;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.572836 meters
#   Minimum depth: 165.751346 meters looking forward 100.000000 meters along route
#   Maximum depth: 170.837179 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 115.751346 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798140;
longitude = -121.815143;
captureRadius = 10;
duration = 101;
initialDepth = 113.777141;
finalDepth = 115.751346;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.043299
#   Actual altitude: 55.043299
#   Commanded vehicle depth:115.751346 
#   Seafloor depth:-170.794645
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.01;
MB_Bottom_Detect_Filter_Max_Range = 220.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 101.572836 meters
#   Minimum depth: 163.777141 meters looking forward 100.000000 meters along route
#   Maximum depth: 168.429671 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 113.777141 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798255;
longitude = -121.814022;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 112.207779;
finalDepth = 113.777141;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.043299
#   Actual altitude: 55.043299
#   Commanded vehicle depth:113.777141 
#   Seafloor depth:-165.993443
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 220.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.01;
MB_Bottom_Detect_Filter_Max_Range = 220.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 220.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 101.572836 meters
#   Minimum depth: 162.207779 meters looking forward 100.000000 meters along route
#   Maximum depth: 164.748191 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 112.207779 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.798636;
longitude = -121.813849;
captureRadius = 10;
duration = 101;
initialDepth = 111.252677;
finalDepth = 112.207779;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.267018
#   Actual altitude: 52.267018
#   Commanded vehicle depth:112.207779 
#   Seafloor depth:-164.474797
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 209.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 101.572836 meters
#   Minimum depth: 161.252677 meters looking forward 100.000000 meters along route
#   Maximum depth: 163.313496 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 111.252677 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799488;
longitude = -121.813462;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 99.011213;
finalDepth = 111.252677;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.267018
#   Actual altitude: 52.267018
#   Commanded vehicle depth:111.252677 
#   Seafloor depth:-162.449783
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.07;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.45;
MB_Bottom_Detect_Filter_Max_Range = 209.07;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.07;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.572836 meters
#   Minimum depth: 149.011213 meters looking forward 100.000000 meters along route
#   Maximum depth: 161.433764 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 99.011213 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.799642;
longitude = -121.813060;
captureRadius = 10;
duration = 101;
initialDepth = 97.965565;
finalDepth = 99.011213;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 62.422551
#   Actual altitude: 62.422551
#   Commanded vehicle depth:99.011213 
#   Seafloor depth:-161.433764
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 249.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.48;
MB_Bottom_Detect_Filter_Max_Range = 249.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 249.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 101.572836 meters
#   Minimum depth: 147.965565 meters looking forward 100.000000 meters along route
#   Maximum depth: 159.964363 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 97.965565 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800048;
longitude = -121.812005;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 97.388561;
finalDepth = 97.965565;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 62.422551
#   Actual altitude: 62.422551
#   Commanded vehicle depth:97.965565 
#   Seafloor depth:-148.400249
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 249.69;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.48;
MB_Bottom_Detect_Filter_Max_Range = 249.69;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 249.69;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 101.572836 meters
#   Minimum depth: 147.388561 meters looking forward 100.000000 meters along route
#   Maximum depth: 157.505351 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 97.388561 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800123;
longitude = -121.811908;
captureRadius = 10;
duration = 101;
initialDepth = 102.810080;
finalDepth = 97.388561;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 51.048334
#   Actual altitude: 51.048334
#   Commanded vehicle depth:97.388561 
#   Seafloor depth:-148.436895
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 204.19;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.21;
MB_Bottom_Detect_Filter_Max_Range = 204.19;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 204.19;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 101.572836 meters
#   Minimum depth: 152.810080 meters looking forward 100.000000 meters along route
#   Maximum depth: 155.142180 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 102.810080 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.800754;
longitude = -121.811093;
captureRadius = 10;
duration = 101;
initialDepth = 97.234786;
finalDepth = 102.810080;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.3321
#   Actual altitude: 52.3321
#   Commanded vehicle depth:102.81008 
#   Seafloor depth:-155.142180
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 209.33;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.47;
MB_Bottom_Detect_Filter_Max_Range = 209.33;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 209.33;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 101.572836 meters
#   Minimum depth: 147.234786 meters looking forward 100.000000 meters along route
#   Maximum depth: 155.068807 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 97.234786 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801392;
longitude = -121.810268;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 86.549512;
finalDepth = 97.234786;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.381017
#   Actual altitude: 55.381017
#   Commanded vehicle depth:97.234786 
#   Seafloor depth:-152.615803
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.52;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.08;
MB_Bottom_Detect_Filter_Max_Range = 221.52;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.52;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 101.572836 meters
#   Minimum depth: 136.549512 meters looking forward 100.000000 meters along route
#   Maximum depth: 146.014756 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 86.549512 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801493;
longitude = -121.809979;
captureRadius = 10;
duration = 101;
initialDepth = 92.168712;
finalDepth = 86.549512;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.247342
#   Actual altitude: 59.247342
#   Commanded vehicle depth:86.549512 
#   Seafloor depth:-145.796854
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 236.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.85;
MB_Bottom_Detect_Filter_Max_Range = 236.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 236.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 101.572836 meters
#   Minimum depth: 142.168712 meters looking forward 100.000000 meters along route
#   Maximum depth: 146.275436 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 92.168712 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.801864;
longitude = -121.808915;
captureRadius = 10;
duration = 101;
initialDepth = 87.757502;
finalDepth = 92.168712;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 59.247342
#   Actual altitude: 59.247342
#   Commanded vehicle depth:92.168712 
#   Seafloor depth:-146.275436
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 236.99;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.85;
MB_Bottom_Detect_Filter_Max_Range = 236.99;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 236.99;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 101.572836 meters
#   Minimum depth: 137.757502 meters looking forward 100.000000 meters along route
#   Maximum depth: 143.595270 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 87.757502 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802233;
longitude = -121.807858;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 81.626443;
finalDepth = 87.757502;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 54.564348
#   Actual altitude: 54.564348
#   Commanded vehicle depth:87.757502 
#   Seafloor depth:-142.321850
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 218.26;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.91;
MB_Bottom_Detect_Filter_Max_Range = 218.26;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 218.26;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 101.572836 meters
#   Minimum depth: 131.626443 meters looking forward 100.000000 meters along route
#   Maximum depth: 137.742643 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 81.626443 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802271;
longitude = -121.807010;
captureRadius = 10;
duration = 101;
initialDepth = 76.235037;
finalDepth = 81.626443;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.1162
#   Actual altitude: 56.1162
#   Commanded vehicle depth:81.626443 
#   Seafloor depth:-137.742643
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.22;
MB_Bottom_Detect_Filter_Max_Range = 224.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 101.572836 meters
#   Minimum depth: 126.235037 meters looking forward 100.000000 meters along route
#   Maximum depth: 131.606195 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 76.235037 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802320;
longitude = -121.805890;
captureRadius = 10;
duration = 101;
initialDepth = 74.582696;
finalDepth = 76.235037;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 56.1162
#   Actual altitude: 56.1162
#   Commanded vehicle depth:76.235037 
#   Seafloor depth:-131.606195
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 224.46;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.22;
MB_Bottom_Detect_Filter_Max_Range = 224.46;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 224.46;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 101.572836 meters
#   Minimum depth: 124.582696 meters looking forward 100.000000 meters along route
#   Maximum depth: 128.047581 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 74.582696 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802370;
longitude = -121.804770;
captureRadius = 10;
duration = 101;
initialDepth = 73.024168;
finalDepth = 74.582696;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 55.371158
#   Actual altitude: 55.371158
#   Commanded vehicle depth:74.582696 
#   Seafloor depth:-127.116232
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 221.48;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.07;
MB_Bottom_Detect_Filter_Max_Range = 221.48;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 221.48;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 101.572836 meters
#   Minimum depth: 123.024168 meters looking forward 100.000000 meters along route
#   Maximum depth: 126.449360 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 73.024168 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802420;
longitude = -121.803636;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 66.131859;
finalDepth = 73.024168;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 52.533536
#   Actual altitude: 52.533536
#   Commanded vehicle depth:73.024168 
#   Seafloor depth:-124.776789
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 210.13;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.51;
MB_Bottom_Detect_Filter_Max_Range = 210.13;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 210.13;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.572836 meters
#   Minimum depth: 116.131859 meters looking forward 100.000000 meters along route
#   Maximum depth: 123.248638 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 66.131859 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802520;
longitude = -121.802865;
captureRadius = 10;
duration = 101;
initialDepth = 57.857233;
finalDepth = 66.131859;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.116779
#   Actual altitude: 57.116779
#   Commanded vehicle depth:66.131859 
#   Seafloor depth:-123.248638
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 228.47;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.42;
MB_Bottom_Detect_Filter_Max_Range = 228.47;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 228.47;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.572836 meters
#   Minimum depth: 107.857233 meters looking forward 100.000000 meters along route
#   Maximum depth: 115.650620 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 57.857233 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802665;
longitude = -121.801745;
captureRadius = 10;
duration = 101;
initialDepth = 57.470749;
finalDepth = 57.857233;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.793387
#   Actual altitude: 57.793387
#   Commanded vehicle depth:57.857233 
#   Seafloor depth:-115.650620
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.56;
MB_Bottom_Detect_Filter_Max_Range = 231.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# Acoustic update - 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 101.572836 meters
#   Minimum depth: 107.470749 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.195220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 57.470749 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.802812;
longitude = -121.800610;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 31.008235;
finalDepth = 57.470749;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 57.793387
#   Actual altitude: 57.793387
#   Commanded vehicle depth:57.470749 
#   Seafloor depth:-107.673225
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 231.17;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 11.56;
MB_Bottom_Detect_Filter_Max_Range = 231.17;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 231.17;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 101.572836 meters
#   Minimum depth: 81.008235 meters looking forward 100.000000 meters along route
#   Maximum depth: 110.077414 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 31.008235 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803457;
longitude = -121.800828;
captureRadius = 10;
duration = 101;
initialDepth = 37.456668;
finalDepth = 31.008235;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 79.069179
#   Actual altitude: 79.069179
#   Commanded vehicle depth:31.008235 
#   Seafloor depth:-110.077414
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 316.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 316.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 316.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# Acoustic update - 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 101.572836 meters
#   Minimum depth: 87.456668 meters looking forward 100.000000 meters along route
#   Maximum depth: 91.037013 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 37.456668 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804362;
longitude = -121.801133;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 41.008821;
finalDepth = 37.456668;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 79.069179
#   Actual altitude: 79.069179
#   Commanded vehicle depth:37.456668 
#   Seafloor depth:-88.016739
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 316.28;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 316.28;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 316.28;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.572836 meters
#   Minimum depth: 91.008821 meters looking forward 100.000000 meters along route
#   Maximum depth: 96.604609 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 41.008821 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804178;
longitude = -121.801994;
captureRadius = 10;
duration = 101;
initialDepth = 46.520880;
finalDepth = 41.008821;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.560071
#   Actual altitude: 50.560071
#   Commanded vehicle depth:41.008821 
#   Seafloor depth:-91.037066
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 202.24;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.11;
MB_Bottom_Detect_Filter_Max_Range = 202.24;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 202.24;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.572836 meters
#   Minimum depth: 96.520880 meters looking forward 100.000000 meters along route
#   Maximum depth: 113.659580 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 46.520880 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803945;
longitude = -121.803089;
captureRadius = 10;
duration = 101;
initialDepth = 64.053457;
finalDepth = 46.520880;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50.028245
#   Actual altitude: 50.028245
#   Commanded vehicle depth:46.52088 
#   Seafloor depth:-96.520880
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.11;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.01;
MB_Bottom_Detect_Filter_Max_Range = 200.11;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.11;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 101.572836 meters
#   Minimum depth: 114.053457 meters looking forward 100.000000 meters along route
#   Maximum depth: 121.771129 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 64.053457 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803705;
longitude = -121.804209;
captureRadius = 10;
duration = 101;
initialDepth = 70.738829;
finalDepth = 64.053457;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:64.053457 
#   Seafloor depth:-114.053457
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 101.572836 meters
#   Minimum depth: 120.738829 meters looking forward 100.000000 meters along route
#   Maximum depth: 123.653269 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 70.738829 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803465;
longitude = -121.805336;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 73.995720;
finalDepth = 70.738829;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:70.738829 
#   Seafloor depth:-120.738829
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.572836 meters
#   Minimum depth: 123.995720 meters looking forward 100.000000 meters along route
#   Maximum depth: 128.975127 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 73.995720 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803277;
longitude = -121.806112;
captureRadius = 10;
duration = 101;
initialDepth = 63.689103;
finalDepth = 73.995720;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 50
#   Actual altitude: 50
#   Commanded vehicle depth:73.99572 
#   Seafloor depth:-123.995720
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# Acoustic update - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 101.572836 meters
#   Minimum depth: 113.689103 meters looking forward 100.000000 meters along route
#   Maximum depth: 131.947624 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 63.689103 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803017;
longitude = -121.807186;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 15.376409;
finalDepth = 63.689103;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 65.711776
#   Actual altitude: 65.711776
#   Commanded vehicle depth:63.689103 
#   Seafloor depth:-129.400879
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 262.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 13.14;
MB_Bottom_Detect_Filter_Max_Range = 262.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 262.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.572836 meters
#   Minimum depth: 65.376409 meters looking forward 100.000000 meters along route
#   Maximum depth: 111.279550 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 15.376409 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.803547;
longitude = -121.807602;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 15.376409;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 95.903141
#   Actual altitude: 95.903141
#   Commanded vehicle depth:15.376409 
#   Seafloor depth:-111.279550
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 350.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.18;
MB_Bottom_Detect_Filter_Max_Range = 350.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 350.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 101.572836 meters
#   Minimum depth: 44.002627 meters looking forward 100.000000 meters along route
#   Maximum depth: 64.463290 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804313;
longitude = -121.808202;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 95.903141
#   Actual altitude: 95.903141
#   Commanded vehicle depth:3 
#   Seafloor depth:-64.463290
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 350.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 19.18;
MB_Bottom_Detect_Filter_Max_Range = 350.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 350.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 101.572836 meters
#   Minimum depth: 43.142595 meters looking forward 100.000000 meters along route
#   Maximum depth: 46.088290 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805090;
longitude = -121.808811;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 61.46329
#   Actual altitude: 61.46329
#   Commanded vehicle depth:3 
#   Seafloor depth:-43.719958
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 245.85;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 12.29;
MB_Bottom_Detect_Filter_Max_Range = 245.85;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 245.85;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.572836 meters
#   Minimum depth: 42.764621 meters looking forward 100.000000 meters along route
#   Maximum depth: 43.386677 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805160;
longitude = -121.809699;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 40.719958
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-43.176483
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.572836 meters
#   Minimum depth: 42.340973 meters looking forward 100.000000 meters along route
#   Maximum depth: 42.920220 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805248;
longitude = -121.810820;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 40.176483
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-42.694424
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.572836 meters
#   Minimum depth: 42.635693 meters looking forward 100.000000 meters along route
#   Maximum depth: 43.853178 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805337;
longitude = -121.811940;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 39.929087
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-42.929087
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 101.572836 meters
#   Minimum depth: 42.503944 meters looking forward 100.000000 meters along route
#   Maximum depth: 43.853178 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805426;
longitude = -121.813070;
captureRadius = 10;
duration = 101;
# abortOnTimeout    = True; 
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 39.929087
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-42.836206
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.572836 meters
#   Minimum depth: 41.645538 meters looking forward 100.000000 meters along route
#   Maximum depth: 42.999469 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805388;
longitude = -121.813285;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 39.851866
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-42.851866
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.572836 meters
#   Minimum depth: 41.068584 meters looking forward 100.000000 meters along route
#   Maximum depth: 41.655041 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.805192;
longitude = -121.814405;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 39.851866
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-41.655041
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.572836 meters
#   Minimum depth: 40.996730 meters looking forward 100.000000 meters along route
#   Maximum depth: 41.492329 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804995;
longitude = -121.815525;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 38.655041
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-41.118553
# 
behavior reson
{
duration = 6;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 101.572836 meters
#   Minimum depth: 41.021477 meters looking forward 100.000000 meters along route
#   Maximum depth: 41.525586 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804799;
longitude = -121.816646;
captureRadius = 10;
duration = 101;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Commanded altitude: 38.525586
#   Actual altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-41.525586
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Duration = 450.000;
LoSS_Range = 337.50;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
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;
}
# 
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# Acoustic update - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
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# 
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# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 1;
}
# Set sonar parameters 
#   Commanded altitude: 38.525586
#   Sonar parameter altitude: 50
#   Commanded vehicle depth:3 
#   Seafloor depth:-41.385385
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 450.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 337.50;
MB_Power = 220;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
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;
Log_Mode = 0;
}
# 
#######################################################
# 
# Waypoint_depth behavior to get to start of line 1
#   Segment length 101.572836 meters
#   Minimum depth: 41.021477 meters looking forward 100.000000 meters along route
#   Maximum depth: 41.466738 meters looking forward 100.000000 meters along route
#   Maximum vehicle depth: 1004.649142 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 3.000000 meters set by local depth and desired altitude
behavior waypoint_depth
{
latitude = 36.804604;
longitude = -121.817758;
captureRadius = 10;
duration = 600;
initialDepth = 3.000000;
finalDepth = 3.000000;
maxCrossTrackError = 30;
speed = 1.500000;
}
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 76.989523;
pitch = -30.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 76.989523;
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 = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 450.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 220;
MB_Range = 200.00;
MB_Rate = 2;
MB_Gain = 75;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000030;
MB_Bottom_Detect_Filter_Min_Range = 10.00;
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;
}
# 
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