# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <wegener> at <Tue Nov  6 14:26:12 PST 2012>
#
# Mission Summary:
#     Route File:               SmithWaterColumn1v1.rte
#     Mission File:             SmithWaterColumn1v1.cfg
#     Distance:                 97014.407120 (m)
#     Estimated Time:           98743 (s)  27.429 (hr)
#     Abort Time:               72000 (s)
#     Max battery life:         64800 (s)
#     Safety margin:            1800 (s)
#     Ascend time:              1015 (s)
#     Way Points:               480
#     Route Points:             480
#     Survey behavior:          WaypointDepth
#     Descent style:            Spiral descent
#     Mapping sonar control enabled:
#                               Multibeam enabled
#                                 Multibeam receive gain:           60 dB
#                                 Multibeam transmit gain:          220 dB
#                                 Multibeam pulse width:            3.3e-05 usec
#                                 Multibeam minimum range fraction: 0.3
#                               Subbottom disabled
#                               Low sidescan disabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled:
#
# Mission Parameters:
#     Vehicle Survey Speed:       1.000000 (m/s) 1.943846 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 50 (m)
#     Abort Vehicle Altitude 1:   25 (m)
#     Delta Depth Restart 1:      25 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 50 (m)
#     Desired Vehicle Altitude 3: 50 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      838.274872 (m)
#     Abort Vehicle Depth:        863.274872 (m)
#     Descent Vehicle Depth:      3 (m)
#     Spiral descent depth:       793.034775 m
#     Spiral descent altitude:    50 m
#     Waypoint Spacing:           250 (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 -122.197085 36.724591 -853.034775 0.000000 3
#   1 -122.199344 36.724591 -863.274872 201.732279 1
#   2 -122.199344 36.726424 -853.805450 405.076325 1
#   3 -122.197085 36.726424 -846.193359 606.803808 1
#   4 -122.197085 36.724591 -853.034775 810.147927 1
#   5 -122.199344 36.724591 -863.274872 1011.880206 1
#   6 -122.199344 36.726424 -853.805450 1215.224252 1
#   7 -122.197085 36.726424 -846.193359 1416.951735 1
#   8 -122.197085 36.724591 -853.034775 1620.295854 1
#   9 -122.199344 36.724591 -863.274872 1822.028133 1
#   10 -122.199344 36.726424 -853.805450 2025.372179 1
#   11 -122.197085 36.726424 -846.193359 2227.099662 1
#   12 -122.197085 36.724591 -853.034775 2430.443781 1
#   13 -122.199344 36.724591 -863.274872 2632.176059 1
#   14 -122.199344 36.726424 -853.805450 2835.520106 1
#   15 -122.197085 36.726424 -846.193359 3037.247589 1
#   16 -122.197085 36.724591 -853.034775 3240.591708 1
#   17 -122.199344 36.724591 -863.274872 3442.323986 1
#   18 -122.199344 36.726424 -853.805450 3645.668033 1
#   19 -122.197085 36.726424 -846.193359 3847.395516 1
#   20 -122.197085 36.724591 -853.034775 4050.739635 1
#   21 -122.199344 36.724591 -863.274872 4252.471913 1
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#   23 -122.197085 36.726424 -846.193359 4657.543443 1
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#   27 -122.197085 36.726424 -846.193359 5467.691370 1
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#   47 -122.197085 36.726424 -846.193359 9518.431005 1
#   48 -122.197085 36.724591 -853.034775 9721.775124 1
#   49 -122.199344 36.724591 -863.274872 9923.507402 1
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#   51 -122.197085 36.726424 -846.193359 10328.578932 1
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#   53 -122.199344 36.724591 -863.274872 10733.655329 1
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#   75 -122.197085 36.726424 -846.193359 15189.466494 1
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#   91 -122.197085 36.726424 -846.193359 18430.058202 1
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#   93 -122.199344 36.724591 -863.274872 18835.134599 1
#   94 -122.199344 36.726424 -853.805450 19038.478645 1
#   95 -122.197085 36.726424 -846.193359 19240.206129 1
#   96 -122.197085 36.724591 -853.034775 19443.550248 1
#   97 -122.199344 36.724591 -863.274872 19645.282526 1
#   98 -122.199344 36.726424 -853.805450 19848.626572 1
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#   103 -122.197085 36.726424 -846.193359 20860.501983 1
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#   105 -122.199344 36.724591 -863.274872 21265.578380 1
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#   107 -122.197085 36.726424 -846.193359 21670.649910 1
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#   273 -122.199344 36.724591 -863.274872 55291.791314 1
#   274 -122.199344 36.726424 -853.805450 55495.135360 1
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#   276 -122.197085 36.724591 -853.034775 55900.206962 1
#   277 -122.199344 36.724591 -863.274872 56101.939241 1
#   278 -122.199344 36.726424 -853.805450 56305.283287 1
#   279 -122.197085 36.726424 -846.193359 56507.010771 1
#   280 -122.197085 36.724591 -853.034775 56710.354889 1
#   281 -122.199344 36.724591 -863.274872 56912.087168 1
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#   284 -122.197085 36.724591 -853.034775 57520.502816 1
#   285 -122.199344 36.724591 -863.274872 57722.235095 1
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#   293 -122.199344 36.724591 -863.274872 59342.530949 1
#   294 -122.199344 36.726424 -853.805450 59545.874995 1
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#   298 -122.199344 36.726424 -853.805450 60356.022922 1
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#   302 -122.199344 36.726424 -853.805450 61166.170849 1
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#   309 -122.199344 36.724591 -863.274872 62583.122656 1
#   310 -122.199344 36.726424 -853.805450 62786.466703 1
#   311 -122.197085 36.726424 -846.193359 62988.194186 1
#   312 -122.197085 36.724591 -853.034775 63191.538305 1
#   313 -122.199344 36.724591 -863.274872 63393.270583 1
#   314 -122.199344 36.726424 -853.805450 63596.614630 1
#   315 -122.197085 36.726424 -846.193359 63798.342113 1
#   316 -122.197085 36.724591 -853.034775 64001.686232 1
#   317 -122.199344 36.724591 -863.274872 64203.418510 1
#   318 -122.199344 36.726424 -853.805450 64406.762557 1
#   319 -122.197085 36.726424 -846.193359 64608.490040 1
#   320 -122.197085 36.724591 -853.034775 64811.834159 1
#   321 -122.199344 36.724591 -863.274872 65013.566437 1
#   322 -122.199344 36.726424 -853.805450 65216.910484 1
#   323 -122.197085 36.726424 -846.193359 65418.637967 1
#   324 -122.197085 36.724591 -853.034775 65621.982086 1
#   325 -122.199344 36.724591 -863.274872 65823.714364 1
#   326 -122.199344 36.726424 -853.805450 66027.058411 1
#   327 -122.197085 36.726424 -846.193359 66228.785894 1
#   328 -122.197085 36.724591 -853.034775 66432.130013 1
#   329 -122.199344 36.724591 -863.274872 66633.862291 1
#   330 -122.199344 36.726424 -853.805450 66837.206338 1
#   331 -122.197085 36.726424 -846.193359 67038.933821 1
#   332 -122.197085 36.724591 -853.034775 67242.277940 1
#   333 -122.199344 36.724591 -863.274872 67444.010218 1
#   334 -122.199344 36.726424 -853.805450 67647.354265 1
#   335 -122.197085 36.726424 -846.193359 67849.081748 1
#   336 -122.197085 36.724591 -853.034775 68052.425867 1
#   337 -122.199344 36.724591 -863.274872 68254.158145 1
#   338 -122.199344 36.726424 -853.805450 68457.502192 1
#   339 -122.197085 36.726424 -846.193359 68659.229675 1
#   340 -122.197085 36.724591 -853.034775 68862.573794 1
#   341 -122.199344 36.724591 -863.274872 69064.306072 1
#   342 -122.199344 36.726424 -853.805450 69267.650119 1
#   343 -122.197085 36.726424 -846.193359 69469.377602 1
#   344 -122.197085 36.724591 -853.034775 69672.721721 1
#   345 -122.199344 36.724591 -863.274872 69874.453999 1
#   346 -122.199344 36.726424 -853.805450 70077.798046 1
#   347 -122.197085 36.726424 -846.193359 70279.525529 1
#   348 -122.197085 36.724591 -853.034775 70482.869648 1
#   349 -122.199344 36.724591 -863.274872 70684.601926 1
#   350 -122.199344 36.726424 -853.805450 70887.945973 1
#   351 -122.197085 36.726424 -846.193359 71089.673456 1
#   352 -122.197085 36.724591 -853.034775 71293.017575 1
#   353 -122.199344 36.724591 -863.274872 71494.749853 1
#   354 -122.199344 36.726424 -853.805450 71698.093900 1
#   355 -122.197085 36.726424 -846.193359 71899.821383 1
#   356 -122.197085 36.724591 -853.034775 72103.165502 1
#   357 -122.199344 36.724591 -863.274872 72304.897780 1
#   358 -122.199344 36.726424 -853.805450 72508.241826 1
#   359 -122.197085 36.726424 -846.193359 72709.969310 1
#   360 -122.197085 36.724591 -853.034775 72913.313429 1
#   361 -122.199344 36.724591 -863.274872 73115.045707 1
#   362 -122.199344 36.726424 -853.805450 73318.389753 1
#   363 -122.197085 36.726424 -846.193359 73520.117237 1
#   364 -122.197085 36.724591 -853.034775 73723.461356 1
#   365 -122.199344 36.724591 -863.274872 73925.193634 1
#   366 -122.199344 36.726424 -853.805450 74128.537680 1
#   367 -122.197085 36.726424 -846.193359 74330.265164 1
#   368 -122.197085 36.724591 -853.034775 74533.609283 1
#   369 -122.199344 36.724591 -863.274872 74735.341561 1
#   370 -122.199344 36.726424 -853.805450 74938.685607 1
#   371 -122.197085 36.726424 -846.193359 75140.413091 1
#   372 -122.197085 36.724591 -853.034775 75343.757210 1
#   373 -122.199344 36.724591 -863.274872 75545.489488 1
#   374 -122.199344 36.726424 -853.805450 75748.833534 1
#   375 -122.197085 36.726424 -846.193359 75950.561018 1
#   376 -122.197085 36.724591 -853.034775 76153.905137 1
#   377 -122.199344 36.724591 -863.274872 76355.637415 1
#   378 -122.199344 36.726424 -853.805450 76558.981461 1
#   379 -122.197085 36.726424 -846.193359 76760.708945 1
#   380 -122.197085 36.724591 -853.034775 76964.053064 1
#   381 -122.199344 36.724591 -863.274872 77165.785342 1
#   382 -122.199344 36.726424 -853.805450 77369.129388 1
#   383 -122.197085 36.726424 -846.193359 77570.856872 1
#   384 -122.197085 36.724591 -853.034775 77774.200991 1
#   385 -122.199344 36.724591 -863.274872 77975.933269 1
#   386 -122.199344 36.726424 -853.805450 78179.277315 1
#   387 -122.197085 36.726424 -846.193359 78381.004799 1
#   388 -122.197085 36.724591 -853.034775 78584.348918 1
#   389 -122.199344 36.724591 -863.274872 78786.081196 1
#   390 -122.199344 36.726424 -853.805450 78989.425242 1
#   391 -122.197085 36.726424 -846.193359 79191.152726 1
#   392 -122.197085 36.724591 -853.034775 79394.496845 1
#   393 -122.199344 36.724591 -863.274872 79596.229123 1
#   394 -122.199344 36.726424 -853.805450 79799.573169 1
#   395 -122.197085 36.726424 -846.193359 80001.300653 1
#   396 -122.197085 36.724591 -853.034775 80204.644772 1
#   397 -122.199344 36.724591 -863.274872 80406.377050 1
#   398 -122.199344 36.726424 -853.805450 80609.721096 1
#   399 -122.197085 36.726424 -846.193359 80811.448580 1
#   400 -122.197085 36.724591 -853.034775 81014.792699 1
#   401 -122.199344 36.724591 -863.274872 81216.524977 1
#   402 -122.199344 36.726424 -853.805450 81419.869023 1
#   403 -122.197085 36.726424 -846.193359 81621.596507 1
#   404 -122.197085 36.724591 -853.034775 81824.940626 1
#   405 -122.199344 36.724591 -863.274872 82026.672904 1
#   406 -122.199344 36.726424 -853.805450 82230.016950 1
#   407 -122.197085 36.726424 -846.193359 82431.744434 1
#   408 -122.197085 36.724591 -853.034775 82635.088553 1
#   409 -122.199344 36.724591 -863.274872 82836.820831 1
#   410 -122.199344 36.726424 -853.805450 83040.164877 1
#   411 -122.197085 36.726424 -846.193359 83241.892361 1
#   412 -122.197085 36.724591 -853.034775 83445.236480 1
#   413 -122.199344 36.724591 -863.274872 83646.968758 1
#   414 -122.199344 36.726424 -853.805450 83850.312804 1
#   415 -122.197085 36.726424 -846.193359 84052.040288 1
#   416 -122.197085 36.724591 -853.034775 84255.384407 1
#   417 -122.199344 36.724591 -863.274872 84457.116685 1
#   418 -122.199344 36.726424 -853.805450 84660.460731 1
#   419 -122.197085 36.726424 -846.193359 84862.188215 1
#   420 -122.197085 36.724591 -853.034775 85065.532334 1
#   421 -122.199344 36.724591 -863.274872 85267.264612 1
#   422 -122.199344 36.726424 -853.805450 85470.608658 1
#   423 -122.197085 36.726424 -846.193359 85672.336142 1
#   424 -122.197085 36.724591 -853.034775 85875.680261 1
#   425 -122.199344 36.724591 -863.274872 86077.412539 1
#   426 -122.199344 36.726424 -853.805450 86280.756585 1
#   427 -122.197085 36.726424 -846.193359 86482.484069 1
#   428 -122.197085 36.724591 -853.034775 86685.828188 1
#   429 -122.199344 36.724591 -863.274872 86887.560466 1
#   430 -122.199344 36.726424 -853.805450 87090.904512 1
#   431 -122.197085 36.726424 -846.193359 87292.631996 1
#   432 -122.197085 36.724591 -853.034775 87495.976115 1
#   433 -122.199344 36.724591 -863.274872 87697.708393 1
#   434 -122.199344 36.726424 -853.805450 87901.052439 1
#   435 -122.197085 36.726424 -846.193359 88102.779923 1
#   436 -122.197085 36.724591 -853.034775 88306.124042 1
#   437 -122.199344 36.724591 -863.274872 88507.856320 1
#   438 -122.199344 36.726424 -853.805450 88711.200366 1
#   439 -122.197085 36.726424 -846.193359 88912.927850 1
#   440 -122.197085 36.724591 -853.034775 89116.271969 1
#   441 -122.199344 36.724591 -863.274872 89318.004247 1
#   442 -122.199344 36.726424 -853.805450 89521.348293 1
#   443 -122.197085 36.726424 -846.193359 89723.075777 1
#   444 -122.197085 36.724591 -853.034775 89926.419896 1
#   445 -122.199344 36.724591 -863.274872 90128.152174 1
#   446 -122.199344 36.726424 -853.805450 90331.496220 1
#   447 -122.197085 36.726424 -846.193359 90533.223704 1
#   448 -122.197085 36.724591 -853.034775 90736.567822 1
#   449 -122.199344 36.724591 -863.274872 90938.300101 1
#   450 -122.199344 36.726424 -853.805450 91141.644147 1
#   451 -122.197085 36.726424 -846.193359 91343.371631 1
#   452 -122.197085 36.724591 -853.034775 91546.715749 1
#   453 -122.199344 36.724591 -863.274872 91748.448028 1
#   454 -122.199344 36.726424 -853.805450 91951.792074 1
#   455 -122.197085 36.726424 -846.193359 92153.519558 1
#   456 -122.197085 36.724591 -853.034775 92356.863676 1
#   457 -122.199344 36.724591 -863.274872 92558.595955 1
#   458 -122.199344 36.726424 -853.805450 92761.940001 1
#   459 -122.197085 36.726424 -846.193359 92963.667485 1
#   460 -122.197085 36.724591 -853.034775 93167.011603 1
#   461 -122.199344 36.724591 -863.274872 93368.743882 1
#   462 -122.199344 36.726424 -853.805450 93572.087928 1
#   463 -122.197085 36.726424 -846.193359 93773.815412 1
#   464 -122.197085 36.724591 -853.034775 93977.159530 1
#   465 -122.199344 36.724591 -863.274872 94178.891809 1
#   466 -122.199344 36.726424 -853.805450 94382.235855 1
#   467 -122.197085 36.726424 -846.193359 94583.963339 1
#   468 -122.197085 36.724591 -853.034775 94787.307457 1
#   469 -122.199344 36.724591 -863.274872 94989.039736 1
#   470 -122.199344 36.726424 -853.805450 95192.383782 1
#   471 -122.197085 36.726424 -846.193359 95394.111266 1
#   472 -122.197085 36.724591 -853.034775 95597.455384 1
#   473 -122.199344 36.724591 -863.274872 95799.187663 1
#   474 -122.199344 36.726424 -853.805450 96002.531709 1
#   475 -122.197085 36.726424 -846.193359 96204.259193 1
#   476 -122.197085 36.724591 -853.034775 96407.603311 1
#   477 -122.199344 36.724591 -863.274872 96609.335590 1
#   478 -122.199344 36.726424 -853.805450 96812.679636 1
#   479 -122.197085 36.726424 -846.193359 97014.407120 4
#
# A total of 480 mission points have been defined.
#
# Define Mission parameters:
#
#######################################################
# Set Mission Behaviors
#
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 72000;
}
#
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 838.274872;
abortDepth = 863.274872;
minAltitude = 50.000000;
abortAltitude = 25.000000;
deltaDepthRestart = 25.000000;
}
#######################################################
# Set End-of-Mission Behaviors
#
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#
# ascend behavior
behavior ascend
{
duration = 1015;
horizontalMode = rudder;
horizontal = 3.000000;
pitch = 45.000000;
speed = 1.500000;
endDepth = 2.000000;
}
#
# Acoustic update 1 - sent status ping after end of survey
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
# Turn off power to sonars and stop logging on the PLC
# by setting the value of the mode attribute to 0 (used to be False).
behavior reson
{
duration = 6;
MB_Power = 0;
SBP_Mode = 0;
LoSS_Mode = 0;
HiSS_Mode = 0;
Log_Mode = 0;
}
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 479
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 478
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 477
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 476
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 475
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 474
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 473
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 472
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 471
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 470
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 469
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 468
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 467
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 466
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 465
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 464
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 463
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 462
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 461
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 460
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 459
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 458
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 457
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 456
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 455
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 454
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 453
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 452
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 451
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 450
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 449
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 448
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 447
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 446
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 445
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 444
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 443
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 442
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 441
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 440
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 439
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 438
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 437
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 436
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 435
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 434
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 433
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 432
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 431
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 430
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 429
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 428
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 427
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 426
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 425
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 424
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 423
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 422
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 421
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 420
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 419
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 418
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 417
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 416
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 415
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 414
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 413
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 412
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 411
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 410
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 409
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 408
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 407
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 406
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 405
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 404
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 403
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 402
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 401
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 400
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 399
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 398
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 397
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 396
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 395
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 394
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 393
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 392
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 391
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 390
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 389
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 388
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 387
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 386
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 385
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 384
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 383
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 382
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 381
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 380
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 379
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 378
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 377
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 376
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 375
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 374
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 373
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 372
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 371
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 370
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 369
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 368
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 367
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 366
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 365
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 364
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 363
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 362
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 361
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 360
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 359
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 358
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 357
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 356
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 355
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 354
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 353
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 352
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 351
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 350
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 349
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 348
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 347
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 346
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 345
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 344
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 343
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 342
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 341
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 340
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 339
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 338
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 337
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 336
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 335
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 334
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 333
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 332
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 331
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 330
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 329
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 328
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 327
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 326
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 325
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 324
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 323
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 322
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 321
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 320
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 319
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 318
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 317
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 316
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 315
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 314
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 313
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 312
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 311
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 310
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 309
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 308
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 307
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 306
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 305
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 304
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 303
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 302
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 301
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 300
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 299
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 298
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 297
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 296
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 295
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 294
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 293
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 292
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 291
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 290
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 289
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 288
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 287
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 286
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 285
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 284
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 283
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 282
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 281
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 280
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 279
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 278
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 277
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 276
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 275
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 274
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 273
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 272
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 271
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 270
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 269
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 268
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 267
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 266
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 265
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 264
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 263
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 262
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 261
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 260
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 259
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 258
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 257
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 256
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 255
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 254
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 253
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 252
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 251
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 250
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 249
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 248
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 247
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 246
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 245
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 244
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 243
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 242
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 241
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 240
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 239
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 238
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 237
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 236
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 235
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 234
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 233
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 232
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 231
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 230
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 229
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 228
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 227
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 226
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 225
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 224
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 223
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 222
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 221
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 220
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 219
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 218
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 217
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 216
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 215
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 214
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 213
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 212
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 211
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 210
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 209
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 208
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 207
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 206
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 205
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 204
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 203
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 202
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 201
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 200
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 199
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 198
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 197
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 196
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 195
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 194
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 193
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 192
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 191
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 190
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 189
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 188
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 187
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 186
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 185
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 184
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 183
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 182
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 181
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 180
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 179
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 178
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 177
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 176
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 175
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 174
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 173
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 172
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 171
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 170
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 169
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 168
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 167
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 166
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 165
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 164
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 163
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 162
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 161
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 160
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 159
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 158
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 157
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 156
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 155
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 154
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 153
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 152
#   Segment length 203.344118 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 151
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 150
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 149
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 148
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 147
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 146
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 145
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 144
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 143
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 142
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 141
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 140
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 139
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 138
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 137
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 136
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 135
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 134
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 133
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 132
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 131
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 130
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 129
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 128
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 127
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 126
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 125
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 124
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 123
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 122
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 121
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 120
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 119
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 118
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 117
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 116
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 115
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 114
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 113
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 112
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 111
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 110
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 109
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 108
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 107
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 106
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 105
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 104
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 103
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 102
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 101
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 100
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 99
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 98
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 97
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 96
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 95
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 94
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 93
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 92
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 91
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 90
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 89
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 88
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 87
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 86
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 85
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 84
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 83
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 82
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 81
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 80
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 79
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 78
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 77
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 76
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 75
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 74
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 73
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 72
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 71
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 70
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 69
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 68
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 67
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 66
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 65
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 64
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 63
#   Segment length 201.727484 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 62
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 61
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 60
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 59
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 58
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 57
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 56
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 55
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 54
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 53
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 52
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 51
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 50
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 49
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 48
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 47
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 46
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 45
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 44
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 43
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 42
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 41
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 40
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 39
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 38
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 37
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 36
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 35
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 34
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 33
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 32
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 31
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 30
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 29
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 28
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 27
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 26
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 25
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 24
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 23
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 22
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 21
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 20
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 19
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 18
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 17
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 16
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 15
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 14
#   Segment length 203.344047 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 13
#   Segment length 201.732278 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 12
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 11
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 10
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 9
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 8
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 7
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 6
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 5
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 4
#   Segment length 203.344119 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.197085;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 796.193359;
finalDepth = 803.034775;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 3
#   Segment length 201.727483 meters
#   Minimum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum depth: 846.193359 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 796.193359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.197085;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.805450;
finalDepth = 796.193359;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  796.193359
#   Seafloor depth:           -846.193359
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 2
#   Segment length 203.344046 meters
#   Minimum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.805450 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 803.805450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.726424;
longitude = -122.199344;
duration = 610;
# abortOnTimeout    = True;
initialDepth = 813.274872;
finalDepth = 803.805450;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            1
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  803.80545
#   Seafloor depth:           -853.805450
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
#######################################################
#######################################################
#
#
# Waypoint_depth behavior to get to end of line 1
#   Segment length 201.732279 meters
#   Minimum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum depth: 863.274872 meters looking forward 0.000000 meters along route
#   Maximum vehicle depth: 838.274872 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 50.000000 meters
#   Behavior depth of 813.274872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.000000 m/s
behavior waypoint_depth
{
latitude = 36.724591;
longitude = -122.199344;
duration = 605;
# abortOnTimeout    = True;
initialDepth = 803.034775;
finalDepth = 813.274872;
speed = 1.000000;
}
#######################################################
# Reset sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  813.274872
#   Seafloor depth:           -863.274872
#
behavior reson
{
duration = 6;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
}
#
#######################################################
#
# Acoustic update 7 - sent status ping before start of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#######################################################
#######################################################
#######################################################
#
#######################################################
# Turn Mapping sonars on and start logging.
#
behavior reson
{
duration = 6;
Log_Mode = 3;
}
# Set sonar parameters
#   Waypoint type:            3
#   Commanded altitude:       50
#   Sonar parameter altitude: 50
#   Commanded vehicle depth:  803.034775
#   Seafloor depth:           -853.034775
#
behavior reson
{
duration = 6;
MB_Power = 220;
MB_Range = 175.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 175.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 175.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
#
#######################################################
#######################################################
#
#
# Waypoint behavior to get back to start of line 1
#   Segment length 201.732279 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Vehicle depth: 803.034775 meters
behavior waypoint
{
latitude = 36.724591;
longitude = -122.197085;
duration = 803;
depth = 803.034775;
speed = 1.500000;
}
#
# Zero speed hang to allow final nav updates over acoustic modem
# - must get start survey command over acoustic modem or mission aborts
behavior StartSurvey
{
duration = 300;
}
#
# Acoustic update 4 - sent status ping at beginning of StartSurvey behavior
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
# Spiral descend behavior to get to proper depth at start of line 1
#   Behavior depth of 803.034775 meters set by local depth and desired altitude
behavior descend
{
duration = 2454;
horizontalMode = rudder;
horizontal = 2.000000;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 793.034775;
minAltitude = 50.000000;
}
#
# Acoustic update 5 - sent status ping after end of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
# Waypoint behavior to get to start of line 1
#   Segment length 201.732279 meters
#   Minimum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Maximum depth: 853.034775 meters looking forward 0.000000 meters along route
#   Vehicle depth: 50.000000 meters
behavior waypoint
{
latitude = 36.724591;
longitude = -122.197085;
duration = 1000;
depth = 50.000000;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line
#
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
#
#
#######################################################
#######################################################
#
#
# Descend behavior
behavior descend
{
horizontalMode = heading;
horizontal = 190.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 50.000000;
duration = 300;
}
#
# setpoint on surface to gather momentum
behavior setpoint
{
duration = 30;
heading = 190.0;
speed = 1.500000;
verticalMode = pitch;
pitch = 0;
}
#
# acquire gps fix
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
#######################################################
# Set sonar parameters, turn pinging on, power zero and logging off
#
behavior reson
{
duration = 6;
MB_Mode = 1;
Log_Mode = 0;
SBP_Mode = 0;
SBP_Power = 0.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 0;
LoSS_Power = 0.0;
LoSS_Range = 200.00;
HiSS_Mode = 0;
HiSS_Power = 0.0;
HiSS_Range = 200;
MB_Power = 0;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 60;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
#
#######################################################
#######################################################
#######################################################
#######################################################