# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <battery1> at <Tue Apr 24 22:19:33 PDT 2018>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2329 2018-02-12 06:48:39Z caress r
# 
# Mission Summary:
#     Route File:               MBPm1_m1_v4.rte
#     Mission File:             MBPm1_m1_v4.cfg
#     Distance:                 112460.915221 (m)
#     Estimated Time:           76766 (s)  21.324 (hr)
#     Abort Time:               77390 (s)
#     Max battery life:         79200 (s)
#     Safety margin:            900 (s)
#     Ascend time:              1364 (s)
#     Way Points:               51
#     Route Points:             1080
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Spiral descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           33 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            3.3e-05 usec
#                                 Multibeam minimum range fraction: 0.3
#                                 Multibeam maximum range fraction: 5.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 45 (m)
#     Abort Vehicle Altitude 1:   15 (m)
#     Delta Depth Restart 1:      30 (m)
#     Desired Vehicle Altitude 1: 50 (m)
#     Desired Vehicle Altitude 2: 75 (m)
#     Desired Vehicle Altitude 3: 25 (m)
#     Constant Vehicle Depth 1:   50 (m)
#     Constant Vehicle Depth 2:   50 (m)
#     Maximum Vehicle Depth:      954.232851 (m)
#     Abort Vehicle Depth:        976.732851 (m)
#     Descent Vehicle Depth:      3 (m)
#     Spiral descent depth:       425.949142 m
#     Spiral descent altitude:    50 m
#     Forward Looking Distance:   200 (m)
#     Waypoint Spacing:           100 (m)
#     Maximum climb rate:         15 (degrees)
#     GPS Duration:               600 (s)
#     Descend Rate:               0.417 (m/s)
#     Ascend Rate:                1 (m/s)
#     Initial descend Duration:   300 (s)
#     Setpoint Duration:          30 (s)
# 
# The primary waypoints from the route file are:
#   <number> <longitude (deg)> <latitude (deg)> <topography (m)> <distance (m)> <type>
#   0 -121.250720 35.350720 -485.949142 0.000000 3
#   1 -121.260639 35.343005 -506.237282 1243.122222 3
#   2 -121.257608 35.345209 -509.180222 1611.477974 3
#   3 -121.255863 35.346679 -498.500984 1838.967171 5
#   4 -121.254210 35.348056 -504.637131 2053.231789 5
#   5 -121.252649 35.349342 -493.150452 2254.436947 3
#   6 -121.250720 35.350720 -485.949142 2487.050132 3
#   7 -121.250628 35.345301 -492.857941 3088.276598 3
#   8 -121.257241 35.351087 -492.868912 3967.647131 3
#   9 -121.250628 35.345301 -492.857941 4847.017664 3
#   10 -121.249618 35.349893 -486.159454 5364.646543 3
#   11 -121.259445 35.341995 -507.034012 6615.856794 3
#   12 -121.261649 35.343923 -506.842949 6908.913637 3
#   13 -121.251731 35.351638 -486.093872 8151.962180 3
#   14 -121.258986 35.359536 -484.841484 9248.523396 3
#   15 -121.535336 35.371659 -972.791153 34395.805914 3
#   16 -121.513294 35.355128 -920.253255 37111.364373 3
#   17 -121.497864 35.377996 -922.562663 40009.740838 3
#   18 -121.519631 35.393701 -943.916870 42645.010709 3
#   19 -121.516450 35.394907 -936.981277 42963.415076 3
#   20 -121.539039 35.361842 -966.033478 47166.324109 3
#   21 -121.537599 35.361182 -960.083603 47316.263303 3
#   22 -121.515009 35.394247 -934.137436 51519.226337 3
#   23 -121.513567 35.393586 -931.982819 51669.333835 3
#   24 -121.536158 35.360522 -956.559616 55872.254078 3
#   25 -121.534717 35.359861 -951.793396 56022.328726 3
#   26 -121.512126 35.392926 -931.833633 60225.355422 3
#   27 -121.510686 35.392265 -934.566833 60375.306414 3
#   28 -121.533277 35.359201 -948.923386 64578.245958 3
#   29 -121.531836 35.358541 -942.777466 64728.268424 3
#   30 -121.509245 35.391605 -928.180405 68931.217617 3
#   31 -121.507804 35.390944 -925.815826 69081.249836 3
#   32 -121.530396 35.357881 -940.296036 73284.156253 3
#   33 -121.528955 35.357220 -937.596848 73434.234865 3
#   34 -121.506363 35.390284 -925.719528 77637.247740 3
#   35 -121.504922 35.389623 -922.727524 77787.281945 3
#   36 -121.527515 35.356560 -935.648056 81990.252053 3
#   37 -121.526074 35.355900 -933.994980 82140.278485 3
#   38 -121.503481 35.388963 -919.904266 86343.258249 3
#   39 -121.502040 35.388302 -918.547150 86493.294441 3
#   40 -121.524634 35.355240 -931.609360 90696.231447 3
#   41 -121.523193 35.354579 -928.858551 90846.314026 3
#   42 -121.500599 35.387641 -917.763443 95049.260705 3
#   43 -121.499159 35.386981 -917.870651 95199.165429 3
#   44 -121.521753 35.353919 -926.787094 99402.121770 3
#   45 -121.520312 35.353259 -925.597214 99552.152170 3
#   46 -121.497718 35.386320 -914.067383 103755.021385 3
#   47 -121.496277 35.385659 -912.727005 103905.061553 3
#   48 -121.518872 35.352598 -921.644730 108107.984828 3
#   49 -121.517432 35.351938 -919.592133 108257.937894 3
#   50 -121.494836 35.384999 -909.699097 112460.915221 3
# 
# A total of 1080 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 77390;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 954.232851;
abortDepth = 976.732851;
minAltitude = 45.000000;
abortAltitude = 15.000000;
deltaDepthRestart = 30.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 1364;
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 50
#   Segment length 170.383880 meters
#   Minimum depth: 909.699097 meters looking forward 200.000000 meters along route
#   Maximum depth: 912.781250 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 859.699097 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384999;
longitude = -121.494836;
duration = 681;
# abortOnTimeout    = True; 
initialDepth = 861.511552;
finalDepth = 859.699097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  859.699097 
#   Seafloor depth:           -909.699097
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.493542 meters
#   Minimum depth: 911.511552 meters looking forward 200.000000 meters along route
#   Maximum depth: 912.781250 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 861.511552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383659;
longitude = -121.495752;
duration = 409;
initialDepth = 861.946343;
finalDepth = 861.511552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.441517
#   Actual altitude:          50.441517
#   Commanded vehicle depth:  861.511552 
#   Seafloor depth:           -911.953069
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 103.610640 meters
#   Minimum depth: 911.946343 meters looking forward 200.000000 meters along route
#   Maximum depth: 915.070232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 861.946343 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382852;
longitude = -121.496303;
duration = 414;
initialDepth = 863.240554;
finalDepth = 861.946343;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7991450000001
#   Actual altitude:          50.7991450000001
#   Commanded vehicle depth:  861.946343 
#   Seafloor depth:           -912.745488
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 101.377091 meters
#   Minimum depth: 913.240554 meters looking forward 200.000000 meters along route
#   Maximum depth: 917.462067 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 863.240554 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382037;
longitude = -121.496860;
duration = 405;
initialDepth = 866.159110;
finalDepth = 863.240554;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.877835
#   Actual altitude:          51.877835
#   Commanded vehicle depth:  863.240554 
#   Seafloor depth:           -915.118389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.494189 meters
#   Minimum depth: 916.159110 meters looking forward 200.000000 meters along route
#   Maximum depth: 919.366848 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 866.159110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381240;
longitude = -121.497405;
duration = 409;
initialDepth = 869.075704;
finalDepth = 866.159110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.877835
#   Actual altitude:          51.877835
#   Commanded vehicle depth:  866.15911 
#   Seafloor depth:           -917.537310
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.494406 meters
#   Minimum depth: 919.075704 meters looking forward 200.000000 meters along route
#   Maximum depth: 920.067085 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.075704 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380434;
longitude = -121.497956;
duration = 409;
initialDepth = 869.452347;
finalDepth = 869.075704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3782
#   Actual altitude:          51.3782
#   Commanded vehicle depth:  869.075704 
#   Seafloor depth:           -919.405473
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.494621 meters
#   Minimum depth: 919.452347 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.487174 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.452347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379627;
longitude = -121.498507;
duration = 409;
initialDepth = 870.210469;
finalDepth = 869.452347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5933649999999
#   Actual altitude:          50.5933649999999
#   Commanded vehicle depth:  869.452347 
#   Seafloor depth:           -920.045712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.494838 meters
#   Minimum depth: 920.210469 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.655611 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.210469 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378821;
longitude = -121.499058;
duration = 409;
initialDepth = 870.710163;
finalDepth = 870.210469;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.445142
#   Actual altitude:          53.445142
#   Commanded vehicle depth:  870.210469 
#   Seafloor depth:           -923.655611
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.495054 meters
#   Minimum depth: 920.710163 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.558803 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.710163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378015;
longitude = -121.499609;
duration = 409;
initialDepth = 870.710163;
finalDepth = 870.710163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.445142
#   Actual altitude:          53.445142
#   Commanded vehicle depth:  870.710163 
#   Seafloor depth:           -921.332362
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.495269 meters
#   Minimum depth: 920.710163 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.176862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.710163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377209;
longitude = -121.500160;
duration = 409;
initialDepth = 871.289374;
finalDepth = 870.710163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.622199
#   Actual altitude:          50.622199
#   Commanded vehicle depth:  870.710163 
#   Seafloor depth:           -921.185541
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.495486 meters
#   Minimum depth: 921.289374 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.735956 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.289374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376402;
longitude = -121.500711;
duration = 409;
initialDepth = 873.888226;
finalDepth = 871.289374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.134662
#   Actual altitude:          52.134662
#   Commanded vehicle depth:  871.289374 
#   Seafloor depth:           -923.424036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.495702 meters
#   Minimum depth: 923.888226 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.706954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.888226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375596;
longitude = -121.501263;
duration = 409;
initialDepth = 878.061015;
finalDepth = 873.888226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2323249999999
#   Actual altitude:          53.2323249999999
#   Commanded vehicle depth:  873.888226 
#   Seafloor depth:           -927.120551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.495918 meters
#   Minimum depth: 928.061015 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.089903 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.061015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374790;
longitude = -121.501814;
duration = 409;
initialDepth = 884.465175;
finalDepth = 878.061015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.506214
#   Actual altitude:          54.506214
#   Commanded vehicle depth:  878.061015 
#   Seafloor depth:           -932.567229
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.496134 meters
#   Minimum depth: 934.465175 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.350349 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.465175 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373984;
longitude = -121.502365;
duration = 409;
initialDepth = 884.028159;
finalDepth = 884.465175;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.703809
#   Actual altitude:          54.703809
#   Commanded vehicle depth:  884.465175 
#   Seafloor depth:           -939.168984
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.496350 meters
#   Minimum depth: 934.028159 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.350349 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.028159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373177;
longitude = -121.502916;
duration = 409;
initialDepth = 884.028159;
finalDepth = 884.028159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.703809
#   Actual altitude:          54.703809
#   Commanded vehicle depth:  884.028159 
#   Seafloor depth:           -935.250711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.496566 meters
#   Minimum depth: 934.028159 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.433758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.028159 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372371;
longitude = -121.503467;
duration = 409;
initialDepth = 885.688970;
finalDepth = 884.028159;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.502818
#   Actual altitude:          51.502818
#   Commanded vehicle depth:  884.028159 
#   Seafloor depth:           -935.530977
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 104.742183 meters
#   Minimum depth: 935.688970 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.465343 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.688970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371565;
longitude = -121.504018;
duration = 418;
initialDepth = 886.278223;
finalDepth = 885.688970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.502818
#   Actual altitude:          51.502818
#   Commanded vehicle depth:  885.68897 
#   Seafloor depth:           -935.696275
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 100.251597 meters
#   Minimum depth: 936.278223 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.075666 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.278223 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370741;
longitude = -121.504581;
duration = 401;
initialDepth = 891.479710;
finalDepth = 886.278223;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.326865
#   Actual altitude:          53.326865
#   Commanded vehicle depth:  886.278223 
#   Seafloor depth:           -939.605088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.497215 meters
#   Minimum depth: 941.479710 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.166777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.479710 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369952;
longitude = -121.505120;
duration = 409;
initialDepth = 888.380787;
finalDepth = 891.479710;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.326865
#   Actual altitude:          53.326865
#   Commanded vehicle depth:  891.47971 
#   Seafloor depth:           -943.973725
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.497430 meters
#   Minimum depth: 938.380787 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.231766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.380787 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369146;
longitude = -121.505671;
duration = 409;
initialDepth = 888.380787;
finalDepth = 888.380787;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.494015
#   Actual altitude:          52.494015
#   Commanded vehicle depth:  888.380787 
#   Seafloor depth:           -940.438890
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.497646 meters
#   Minimum depth: 938.380787 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.946013 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.380787 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368340;
longitude = -121.506222;
duration = 409;
initialDepth = 888.524548;
finalDepth = 888.380787;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.058103
#   Actual altitude:          52.058103
#   Commanded vehicle depth:  888.380787 
#   Seafloor depth:           -938.399700
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.497863 meters
#   Minimum depth: 938.524548 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.852024 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.524548 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367534;
longitude = -121.506773;
duration = 409;
initialDepth = 891.248082;
finalDepth = 888.524548;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.666872
#   Actual altitude:          54.666872
#   Commanded vehicle depth:  888.524548 
#   Seafloor depth:           -943.191420
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.498079 meters
#   Minimum depth: 941.248082 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.852024 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.248082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366727;
longitude = -121.507324;
duration = 409;
initialDepth = 888.365652;
finalDepth = 891.248082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.666872
#   Actual altitude:          54.666872
#   Commanded vehicle depth:  891.248082 
#   Seafloor depth:           -942.220938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.498294 meters
#   Minimum depth: 938.365652 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.829865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.365652 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365921;
longitude = -121.507875;
duration = 409;
initialDepth = 885.406976;
finalDepth = 888.365652;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.53088
#   Actual altitude:          52.53088
#   Commanded vehicle depth:  888.365652 
#   Seafloor depth:           -940.896532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.498511 meters
#   Minimum depth: 935.406976 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.828727 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.406976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365115;
longitude = -121.508426;
duration = 409;
initialDepth = 884.162852;
finalDepth = 885.406976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.578044
#   Actual altitude:          52.578044
#   Commanded vehicle depth:  885.406976 
#   Seafloor depth:           -937.985020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.498727 meters
#   Minimum depth: 934.162852 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.446819 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.162852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364309;
longitude = -121.508977;
duration = 409;
initialDepth = 882.731640;
finalDepth = 884.162852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.578044
#   Actual altitude:          52.578044
#   Commanded vehicle depth:  884.162852 
#   Seafloor depth:           -935.127139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.498943 meters
#   Minimum depth: 932.731640 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.972985 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.731640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363502;
longitude = -121.509528;
duration = 409;
initialDepth = 880.839414;
finalDepth = 882.731640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.349292
#   Actual altitude:          51.349292
#   Commanded vehicle depth:  882.73164 
#   Seafloor depth:           -934.080932
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.499159 meters
#   Minimum depth: 930.839414 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.828855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.839414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362696;
longitude = -121.510079;
duration = 409;
initialDepth = 879.890383;
finalDepth = 880.839414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8482779999999
#   Actual altitude:          51.8482779999999
#   Commanded vehicle depth:  880.839414 
#   Seafloor depth:           -932.687692
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 102.499375 meters
#   Minimum depth: 929.890383 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.170112 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.890383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361890;
longitude = -121.510630;
duration = 409;
initialDepth = 878.932151;
finalDepth = 879.890383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8482779999999
#   Actual altitude:          51.8482779999999
#   Commanded vehicle depth:  879.890383 
#   Seafloor depth:           -930.793711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 103.291004 meters
#   Minimum depth: 928.932151 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.186922 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.932151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361084;
longitude = -121.511181;
duration = 413;
initialDepth = 877.318064;
finalDepth = 878.932151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.906231
#   Actual altitude:          50.906231
#   Commanded vehicle depth:  878.932151 
#   Seafloor depth:           -929.838382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.082382 meters
#   Minimum depth: 927.318064 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.730286 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.318064 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360271;
longitude = -121.511737;
duration = 420;
initialDepth = 876.638566;
finalDepth = 877.318064;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5827959999999
#   Actual altitude:          51.5827959999999
#   Commanded vehicle depth:  877.318064 
#   Seafloor depth:           -928.900860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.082608 meters
#   Minimum depth: 926.638566 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.725264 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.638566 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359445;
longitude = -121.512302;
duration = 420;
initialDepth = 874.985807;
finalDepth = 876.638566;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5827959999999
#   Actual altitude:          51.5827959999999
#   Commanded vehicle depth:  876.638566 
#   Seafloor depth:           -927.226770
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.082836 meters
#   Minimum depth: 924.985807 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.745018 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.985807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358618;
longitude = -121.512867;
duration = 420;
initialDepth = 873.618222;
finalDepth = 874.985807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.626074
#   Actual altitude:          51.626074
#   Commanded vehicle depth:  874.985807 
#   Seafloor depth:           -926.611881
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.083063 meters
#   Minimum depth: 923.618222 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.742633 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.618222 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357791;
longitude = -121.513431;
duration = 420;
initialDepth = 872.024650;
finalDepth = 873.618222;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.626074
#   Actual altitude:          51.626074
#   Commanded vehicle depth:  873.618222 
#   Seafloor depth:           -924.879630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.083291 meters
#   Minimum depth: 922.024650 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.333679 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.024650 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356965;
longitude = -121.513996;
duration = 420;
initialDepth = 870.534638;
finalDepth = 872.024650;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.412732
#   Actual altitude:          51.412732
#   Commanded vehicle depth:  872.02465 
#   Seafloor depth:           -923.437382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.083517 meters
#   Minimum depth: 920.534638 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.790360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.534638 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356138;
longitude = -121.514561;
duration = 420;
initialDepth = 870.045193;
finalDepth = 870.534638;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.412732
#   Actual altitude:          51.412732
#   Commanded vehicle depth:  870.534638 
#   Seafloor depth:           -921.845984
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.083745 meters
#   Minimum depth: 920.045193 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.790360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.045193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355312;
longitude = -121.515126;
duration = 420;
initialDepth = 868.919273;
finalDepth = 870.045193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3113460000001
#   Actual altitude:          51.3113460000001
#   Commanded vehicle depth:  870.045193 
#   Seafloor depth:           -921.346287
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.083971 meters
#   Minimum depth: 918.919273 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.997500 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.919273 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.354485;
longitude = -121.515691;
duration = 420;
initialDepth = 868.919273;
finalDepth = 868.919273;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3010939999999
#   Actual altitude:          51.3010939999999
#   Commanded vehicle depth:  868.919273 
#   Seafloor depth:           -919.610278
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 105.084199 meters
#   Minimum depth: 918.919273 meters looking forward 200.000000 meters along route
#   Maximum depth: 920.699857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.919273 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.353659;
longitude = -121.516256;
duration = 420;
initialDepth = 868.727447;
finalDepth = 868.919273;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.691005
#   Actual altitude:          50.691005
#   Commanded vehicle depth:  868.919273 
#   Seafloor depth:           -919.199571
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 113.652003 meters
#   Minimum depth: 918.727447 meters looking forward 200.000000 meters along route
#   Maximum depth: 920.699857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.727447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.352832;
longitude = -121.516821;
duration = 454;
initialDepth = 869.192578;
finalDepth = 868.727447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.368598
#   Actual altitude:          51.368598
#   Commanded vehicle depth:  868.727447 
#   Seafloor depth:           -920.096045
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 49
#   Segment length 149.953066 meters
#   Minimum depth: 919.192578 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.647385 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.192578 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.351938;
longitude = -121.517432;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 870.355992;
finalDepth = 869.192578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.368598
#   Actual altitude:          51.368598
#   Commanded vehicle depth:  869.192578 
#   Seafloor depth:           -919.592133
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 48
#   Segment length 99.799045 meters
#   Minimum depth: 920.355992 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.136445 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.355992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.352598;
longitude = -121.518872;
duration = 399;
# abortOnTimeout    = True; 
initialDepth = 872.231015;
finalDepth = 870.355992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.288738
#   Actual altitude:          51.288738
#   Commanded vehicle depth:  870.355992 
#   Seafloor depth:           -921.644730
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 100.749454 meters
#   Minimum depth: 922.231015 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.680405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.231015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.353383;
longitude = -121.518336;
duration = 402;
initialDepth = 867.043640;
finalDepth = 872.231015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.288738
#   Actual altitude:          51.288738
#   Commanded vehicle depth:  872.231015 
#   Seafloor depth:           -922.707380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.504622 meters
#   Minimum depth: 917.043640 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.680405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 867.043640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.354175;
longitude = -121.517794;
duration = 410;
initialDepth = 868.249173;
finalDepth = 867.043640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.578765
#   Actual altitude:          50.578765
#   Commanded vehicle depth:  867.04364 
#   Seafloor depth:           -917.622405
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.504406 meters
#   Minimum depth: 918.249173 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.194263 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.249173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.354982;
longitude = -121.517243;
duration = 410;
initialDepth = 870.020364;
finalDepth = 868.249173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.626173
#   Actual altitude:          51.626173
#   Commanded vehicle depth:  868.249173 
#   Seafloor depth:           -919.875346
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.504190 meters
#   Minimum depth: 920.020364 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.050513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.020364 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355788;
longitude = -121.516692;
duration = 410;
initialDepth = 871.239369;
finalDepth = 870.020364;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.626173
#   Actual altitude:          51.626173
#   Commanded vehicle depth:  870.020364 
#   Seafloor depth:           -921.343862
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.503973 meters
#   Minimum depth: 921.239369 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.484327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.239369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356594;
longitude = -121.516141;
duration = 410;
initialDepth = 874.841000;
finalDepth = 871.239369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.681837
#   Actual altitude:          53.681837
#   Commanded vehicle depth:  871.239369 
#   Seafloor depth:           -924.921206
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.503758 meters
#   Minimum depth: 924.841000 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.628707 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.841000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357401;
longitude = -121.515590;
duration = 410;
initialDepth = 874.850373;
finalDepth = 874.841000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.681837
#   Actual altitude:          53.681837
#   Commanded vehicle depth:  874.841 
#   Seafloor depth:           -925.628707
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.503541 meters
#   Minimum depth: 924.850373 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.684291 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.850373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358207;
longitude = -121.515039;
duration = 410;
initialDepth = 876.758556;
finalDepth = 874.850373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.799095
#   Actual altitude:          50.799095
#   Commanded vehicle depth:  874.850373 
#   Seafloor depth:           -925.649468
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.503325 meters
#   Minimum depth: 926.758556 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.896186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.758556 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359013;
longitude = -121.514488;
duration = 410;
initialDepth = 877.605907;
finalDepth = 876.758556;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.799095
#   Actual altitude:          50.799095
#   Commanded vehicle depth:  876.758556 
#   Seafloor depth:           -927.375938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.503110 meters
#   Minimum depth: 927.605907 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.243157 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.605907 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359820;
longitude = -121.513937;
duration = 410;
initialDepth = 878.771755;
finalDepth = 877.605907;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.207539
#   Actual altitude:          51.207539
#   Commanded vehicle depth:  877.605907 
#   Seafloor depth:           -928.813446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.502892 meters
#   Minimum depth: 928.771755 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.051771 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.771755 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360626;
longitude = -121.513386;
duration = 410;
initialDepth = 880.460862;
finalDepth = 878.771755;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.207539
#   Actual altitude:          51.207539
#   Commanded vehicle depth:  878.771755 
#   Seafloor depth:           -929.359670
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.502677 meters
#   Minimum depth: 930.460862 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.531945 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.460862 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361432;
longitude = -121.512834;
duration = 410;
initialDepth = 882.374043;
finalDepth = 880.460862;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.599394
#   Actual altitude:          51.599394
#   Commanded vehicle depth:  880.460862 
#   Seafloor depth:           -932.060256
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.502461 meters
#   Minimum depth: 932.374043 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.827781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.374043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362238;
longitude = -121.512283;
duration = 410;
initialDepth = 884.245267;
finalDepth = 882.374043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.599394
#   Actual altitude:          51.599394
#   Commanded vehicle depth:  882.374043 
#   Seafloor depth:           -933.607577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.744588 meters
#   Minimum depth: 934.245267 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.358081 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.245267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363045;
longitude = -121.511732;
duration = 410;
initialDepth = 885.700238;
finalDepth = 884.245267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.233534
#   Actual altitude:          51.233534
#   Commanded vehicle depth:  884.245267 
#   Seafloor depth:           -934.831884
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.259685 meters
#   Minimum depth: 935.700238 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.298596 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.700238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363853;
longitude = -121.511180;
duration = 409;
initialDepth = 886.791233;
finalDepth = 885.700238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.656213
#   Actual altitude:          50.656213
#   Commanded vehicle depth:  885.700238 
#   Seafloor depth:           -936.356451
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.501812 meters
#   Minimum depth: 936.791233 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.084931 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.791233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364657;
longitude = -121.510630;
duration = 410;
initialDepth = 888.588193;
finalDepth = 886.791233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.103257
#   Actual altitude:          51.103257
#   Commanded vehicle depth:  886.791233 
#   Seafloor depth:           -937.894490
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.501597 meters
#   Minimum depth: 938.588193 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.174451 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.588193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365464;
longitude = -121.510079;
duration = 410;
initialDepth = 889.716106;
finalDepth = 888.588193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.103257
#   Actual altitude:          51.103257
#   Commanded vehicle depth:  888.588193 
#   Seafloor depth:           -939.599487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.501380 meters
#   Minimum depth: 939.716106 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.715838 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.716106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366270;
longitude = -121.509528;
duration = 410;
initialDepth = 889.752324;
finalDepth = 889.716106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0112939999999
#   Actual altitude:          51.0112939999999
#   Commanded vehicle depth:  889.716106 
#   Seafloor depth:           -940.159546
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.501164 meters
#   Minimum depth: 939.752324 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.111954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.752324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367076;
longitude = -121.508977;
duration = 410;
initialDepth = 890.230817;
finalDepth = 889.752324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.223622
#   Actual altitude:          51.223622
#   Commanded vehicle depth:  889.752324 
#   Seafloor depth:           -940.975946
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.500948 meters
#   Minimum depth: 940.230817 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.226218 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.230817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367882;
longitude = -121.508426;
duration = 410;
initialDepth = 890.230817;
finalDepth = 890.230817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.223622
#   Actual altitude:          51.223622
#   Commanded vehicle depth:  890.230817 
#   Seafloor depth:           -940.693665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.500732 meters
#   Minimum depth: 940.230817 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.276028 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.230817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368689;
longitude = -121.507875;
duration = 410;
initialDepth = 890.602349;
finalDepth = 890.230817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.84906
#   Actual altitude:          50.84906
#   Commanded vehicle depth:  890.230817 
#   Seafloor depth:           -941.079877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.500515 meters
#   Minimum depth: 940.602349 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.288077 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.602349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369495;
longitude = -121.507324;
duration = 410;
initialDepth = 890.905513;
finalDepth = 890.602349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.84906
#   Actual altitude:          50.84906
#   Commanded vehicle depth:  890.602349 
#   Seafloor depth:           -941.062945
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.500300 meters
#   Minimum depth: 940.905513 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.310226 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.905513 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370301;
longitude = -121.506773;
duration = 410;
initialDepth = 888.065098;
finalDepth = 890.905513;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.587532
#   Actual altitude:          52.587532
#   Commanded vehicle depth:  890.905513 
#   Seafloor depth:           -943.493045
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.500083 meters
#   Minimum depth: 938.065098 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.310226 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.065098 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371108;
longitude = -121.506222;
duration = 410;
initialDepth = 887.738599;
finalDepth = 888.065098;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.6233649999999
#   Actual altitude:          55.6233649999999
#   Commanded vehicle depth:  888.065098 
#   Seafloor depth:           -943.688463
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.499868 meters
#   Minimum depth: 937.738599 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.569578 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.738599 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371914;
longitude = -121.505671;
duration = 409;
initialDepth = 885.729383;
finalDepth = 887.738599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.6233649999999
#   Actual altitude:          55.6233649999999
#   Commanded vehicle depth:  887.738599 
#   Seafloor depth:           -938.052593
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.499651 meters
#   Minimum depth: 935.729383 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.305165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.729383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372720;
longitude = -121.505120;
duration = 409;
initialDepth = 884.307074;
finalDepth = 885.729383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.466977
#   Actual altitude:          55.466977
#   Commanded vehicle depth:  885.729383 
#   Seafloor depth:           -941.196360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.499436 meters
#   Minimum depth: 934.307074 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.305165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.307074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373526;
longitude = -121.504569;
duration = 409;
initialDepth = 883.032925;
finalDepth = 884.307074;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.466977
#   Actual altitude:          55.466977
#   Commanded vehicle depth:  884.307074 
#   Seafloor depth:           -935.618540
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 103.806509 meters
#   Minimum depth: 933.032925 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.068879 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.032925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374333;
longitude = -121.504018;
duration = 415;
initialDepth = 879.337973;
finalDepth = 883.032925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.00519
#   Actual altitude:          53.00519
#   Commanded vehicle depth:  883.032925 
#   Seafloor depth:           -936.038115
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 101.191713 meters
#   Minimum depth: 929.337973 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.633158 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.337973 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375149;
longitude = -121.503460;
duration = 404;
initialDepth = 876.509578;
finalDepth = 879.337973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5969679999999
#   Actual altitude:          53.5969679999999
#   Commanded vehicle depth:  879.337973 
#   Seafloor depth:           -932.934941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.498787 meters
#   Minimum depth: 926.509578 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.580538 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.509578 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375945;
longitude = -121.502916;
duration = 409;
initialDepth = 875.051333;
finalDepth = 876.509578;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5969679999999
#   Actual altitude:          53.5969679999999
#   Commanded vehicle depth:  876.509578 
#   Seafloor depth:           -928.632466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.498571 meters
#   Minimum depth: 925.051333 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.126841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.051333 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376752;
longitude = -121.502365;
duration = 409;
initialDepth = 872.793345;
finalDepth = 875.051333;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.122888
#   Actual altitude:          52.122888
#   Commanded vehicle depth:  875.051333 
#   Seafloor depth:           -926.145916
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.498355 meters
#   Minimum depth: 922.793345 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.046309 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.793345 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377558;
longitude = -121.501814;
duration = 409;
initialDepth = 871.724564;
finalDepth = 872.793345;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0664979999999
#   Actual altitude:          52.0664979999999
#   Commanded vehicle depth:  872.793345 
#   Seafloor depth:           -924.859843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.498139 meters
#   Minimum depth: 921.724564 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.734535 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.724564 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378364;
longitude = -121.501263;
duration = 409;
initialDepth = 871.217195;
finalDepth = 871.724564;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0664979999999
#   Actual altitude:          52.0664979999999
#   Commanded vehicle depth:  871.724564 
#   Seafloor depth:           -922.276230
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.497922 meters
#   Minimum depth: 921.217195 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.974891 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.217195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379170;
longitude = -121.500711;
duration = 409;
initialDepth = 871.217195;
finalDepth = 871.217195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5516660000001
#   Actual altitude:          50.5516660000001
#   Commanded vehicle depth:  871.217195 
#   Seafloor depth:           -921.659737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.497707 meters
#   Minimum depth: 921.217195 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.533591 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.217195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379977;
longitude = -121.500160;
duration = 409;
initialDepth = 872.346440;
finalDepth = 871.217195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6087550000001
#   Actual altitude:          50.6087550000001
#   Commanded vehicle depth:  871.217195 
#   Seafloor depth:           -921.825950
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.497491 meters
#   Minimum depth: 922.346440 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.576543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.346440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380783;
longitude = -121.499609;
duration = 409;
initialDepth = 869.278888;
finalDepth = 872.346440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.230103
#   Actual altitude:          57.230103
#   Commanded vehicle depth:  872.34644 
#   Seafloor depth:           -929.576543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.497274 meters
#   Minimum depth: 919.278888 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.463111 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.278888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381589;
longitude = -121.499058;
duration = 409;
initialDepth = 867.451437;
finalDepth = 869.278888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.230103
#   Actual altitude:          57.230103
#   Commanded vehicle depth:  869.278888 
#   Seafloor depth:           -922.332372
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.497059 meters
#   Minimum depth: 917.451437 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.192406 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 867.451437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382396;
longitude = -121.498507;
duration = 409;
initialDepth = 865.102522;
finalDepth = 867.451437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0534839999999
#   Actual altitude:          53.0534839999999
#   Commanded vehicle depth:  867.451437 
#   Seafloor depth:           -919.169273
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.496842 meters
#   Minimum depth: 915.102522 meters looking forward 200.000000 meters along route
#   Maximum depth: 918.863340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 865.102522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383202;
longitude = -121.497956;
duration = 409;
initialDepth = 863.882931;
finalDepth = 865.102522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.191879
#   Actual altitude:          52.191879
#   Commanded vehicle depth:  865.102522 
#   Seafloor depth:           -917.294401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.496627 meters
#   Minimum depth: 913.882931 meters looking forward 200.000000 meters along route
#   Maximum depth: 916.685554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 863.882931 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384008;
longitude = -121.497405;
duration = 409;
initialDepth = 863.680177;
finalDepth = 863.882931;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.191879
#   Actual altitude:          52.191879
#   Commanded vehicle depth:  863.882931 
#   Seafloor depth:           -914.999300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 107.351066 meters
#   Minimum depth: 913.680177 meters looking forward 200.000000 meters along route
#   Maximum depth: 914.459908 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 863.680177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384815;
longitude = -121.496854;
duration = 429;
initialDepth = 861.949471;
finalDepth = 863.680177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.116369
#   Actual altitude:          51.116369
#   Commanded vehicle depth:  863.680177 
#   Seafloor depth:           -914.151705
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 47
#   Segment length 150.040168 meters
#   Minimum depth: 911.949471 meters looking forward 200.000000 meters along route
#   Maximum depth: 913.852481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 861.949471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385659;
longitude = -121.496277;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 862.910763;
finalDepth = 861.949471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.7775339999999
#   Actual altitude:          50.7775339999999
#   Commanded vehicle depth:  861.949471 
#   Seafloor depth:           -912.727005
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 46
#   Segment length 95.564204 meters
#   Minimum depth: 912.910763 meters looking forward 200.000000 meters along route
#   Maximum depth: 915.157171 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 862.910763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386320;
longitude = -121.497718;
duration = 382;
# abortOnTimeout    = True; 
initialDepth = 864.067383;
finalDepth = 862.910763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.15662
#   Actual altitude:          51.15662
#   Commanded vehicle depth:  862.910763 
#   Seafloor depth:           -914.067383
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.499820 meters
#   Minimum depth: 914.067383 meters looking forward 200.000000 meters along route
#   Maximum depth: 915.938632 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 864.067383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385568;
longitude = -121.498232;
duration = 409;
initialDepth = 865.293056;
finalDepth = 864.067383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.16922
#   Actual altitude:          51.16922
#   Commanded vehicle depth:  864.067383 
#   Seafloor depth:           -915.236603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.500036 meters
#   Minimum depth: 915.293056 meters looking forward 200.000000 meters along route
#   Maximum depth: 918.813756 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 865.293056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384762;
longitude = -121.498783;
duration = 410;
initialDepth = 866.822955;
finalDepth = 865.293056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.16922
#   Actual altitude:          51.16922
#   Commanded vehicle depth:  865.293056 
#   Seafloor depth:           -916.085270
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 103.741963 meters
#   Minimum depth: 916.822955 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.216428 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 866.822955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383956;
longitude = -121.499334;
duration = 414;
initialDepth = 870.855497;
finalDepth = 866.822955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.07794
#   Actual altitude:          52.07794
#   Commanded vehicle depth:  866.822955 
#   Seafloor depth:           -918.900895
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 101.258756 meters
#   Minimum depth: 920.855497 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.244626 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.855497 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383139;
longitude = -121.499892;
duration = 405;
initialDepth = 870.418927;
finalDepth = 870.855497;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.389129
#   Actual altitude:          55.389129
#   Commanded vehicle depth:  870.855497 
#   Seafloor depth:           -926.244626
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.500684 meters
#   Minimum depth: 920.418927 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.562074 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.418927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382343;
longitude = -121.500436;
duration = 410;
initialDepth = 870.418927;
finalDepth = 870.418927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.389129
#   Actual altitude:          55.389129
#   Commanded vehicle depth:  870.418927 
#   Seafloor depth:           -920.490230
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.500900 meters
#   Minimum depth: 920.418927 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.136550 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.418927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381537;
longitude = -121.500987;
duration = 410;
initialDepth = 871.460433;
finalDepth = 870.418927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.078546
#   Actual altitude:          51.078546
#   Commanded vehicle depth:  870.418927 
#   Seafloor depth:           -921.497473
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.501116 meters
#   Minimum depth: 921.460433 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.652994 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.460433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380730;
longitude = -121.501538;
duration = 410;
initialDepth = 874.408179;
finalDepth = 871.460433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.294037
#   Actual altitude:          53.294037
#   Commanded vehicle depth:  871.460433 
#   Seafloor depth:           -924.754470
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.501332 meters
#   Minimum depth: 924.408179 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.652994 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.408179 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379924;
longitude = -121.502089;
duration = 410;
initialDepth = 874.408179;
finalDepth = 874.408179;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.294037
#   Actual altitude:          53.294037
#   Commanded vehicle depth:  874.408179 
#   Seafloor depth:           -927.226395
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.501548 meters
#   Minimum depth: 924.408179 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.798238 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.408179 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379118;
longitude = -121.502640;
duration = 410;
initialDepth = 875.060350;
finalDepth = 874.408179;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.818216
#   Actual altitude:          52.818216
#   Commanded vehicle depth:  874.408179 
#   Seafloor depth:           -924.650956
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.501765 meters
#   Minimum depth: 925.060350 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.900695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.060350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378311;
longitude = -121.503191;
duration = 410;
initialDepth = 879.730662;
finalDepth = 875.060350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.037651
#   Actual altitude:          54.037651
#   Commanded vehicle depth:  875.06035 
#   Seafloor depth:           -929.098001
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.501980 meters
#   Minimum depth: 929.730662 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.900695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.730662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377505;
longitude = -121.503742;
duration = 410;
initialDepth = 879.730662;
finalDepth = 879.730662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.037651
#   Actual altitude:          54.037651
#   Commanded vehicle depth:  879.730662 
#   Seafloor depth:           -931.000699
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.502197 meters
#   Minimum depth: 929.730662 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.252572 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.730662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376699;
longitude = -121.504293;
duration = 410;
initialDepth = 882.277697;
finalDepth = 879.730662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.709618
#   Actual altitude:          51.709618
#   Commanded vehicle depth:  879.730662 
#   Seafloor depth:           -931.440280
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.502412 meters
#   Minimum depth: 932.277697 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.752819 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.277697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375892;
longitude = -121.504844;
duration = 410;
initialDepth = 885.912308;
finalDepth = 882.277697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.397523
#   Actual altitude:          53.397523
#   Commanded vehicle depth:  882.277697 
#   Seafloor depth:           -935.675220
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.502629 meters
#   Minimum depth: 935.912308 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.861826 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.912308 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375086;
longitude = -121.505395;
duration = 410;
initialDepth = 885.967134;
finalDepth = 885.912308;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.397523
#   Actual altitude:          53.397523
#   Commanded vehicle depth:  885.912308 
#   Seafloor depth:           -936.779019
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.502845 meters
#   Minimum depth: 935.967134 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.221481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.967134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374280;
longitude = -121.505946;
duration = 410;
initialDepth = 888.901147;
finalDepth = 885.967134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0561290000001
#   Actual altitude:          52.0561290000001
#   Commanded vehicle depth:  885.967134 
#   Seafloor depth:           -938.023263
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.503061 meters
#   Minimum depth: 938.901147 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.221481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.901147 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373473;
longitude = -121.506497;
duration = 410;
initialDepth = 888.901147;
finalDepth = 888.901147;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.274048
#   Actual altitude:          52.274048
#   Commanded vehicle depth:  888.901147 
#   Seafloor depth:           -941.175195
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 104.746465 meters
#   Minimum depth: 938.901147 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.649814 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.901147 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372667;
longitude = -121.507048;
duration = 418;
initialDepth = 889.003924;
finalDepth = 888.901147;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.274048
#   Actual altitude:          52.274048
#   Commanded vehicle depth:  888.901147 
#   Seafloor depth:           -938.902621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 100.260305 meters
#   Minimum depth: 939.003924 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.215120 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.003924 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371843;
longitude = -121.507612;
duration = 401;
initialDepth = 891.009076;
finalDepth = 889.003924;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6685
#   Actual altitude:          51.6685
#   Commanded vehicle depth:  889.003924 
#   Seafloor depth:           -940.672424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.503709 meters
#   Minimum depth: 941.009076 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.930206 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.009076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371054;
longitude = -121.508151;
duration = 410;
initialDepth = 893.790703;
finalDepth = 891.009076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6685
#   Actual altitude:          51.6685
#   Commanded vehicle depth:  891.009076 
#   Seafloor depth:           -942.505458
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.503925 meters
#   Minimum depth: 943.790703 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.491716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.790703 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370248;
longitude = -121.508702;
duration = 410;
initialDepth = 893.192183;
finalDepth = 893.790703;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4963819999999
#   Actual altitude:          51.4963819999999
#   Commanded vehicle depth:  893.790703 
#   Seafloor depth:           -945.220797
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.504142 meters
#   Minimum depth: 943.192183 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.491716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.192183 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369442;
longitude = -121.509253;
duration = 410;
initialDepth = 891.784611;
finalDepth = 893.192183;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4300939999999
#   Actual altitude:          51.4300939999999
#   Commanded vehicle depth:  893.192183 
#   Seafloor depth:           -944.296487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.504357 meters
#   Minimum depth: 941.784611 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.448976 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.784611 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368635;
longitude = -121.509804;
duration = 410;
initialDepth = 891.784611;
finalDepth = 891.784611;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2955549999999
#   Actual altitude:          51.2955549999999
#   Commanded vehicle depth:  891.784611 
#   Seafloor depth:           -943.080166
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.504574 meters
#   Minimum depth: 941.784611 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.437529 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.784611 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367829;
longitude = -121.510355;
duration = 410;
initialDepth = 892.909176;
finalDepth = 891.784611;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2955549999999
#   Actual altitude:          51.2955549999999
#   Commanded vehicle depth:  891.784611 
#   Seafloor depth:           -942.218876
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.504790 meters
#   Minimum depth: 942.909176 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.437529 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.909176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367023;
longitude = -121.510906;
duration = 410;
initialDepth = 890.731936;
finalDepth = 892.909176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.444645
#   Actual altitude:          54.444645
#   Commanded vehicle depth:  892.909176 
#   Seafloor depth:           -947.353821
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.505006 meters
#   Minimum depth: 940.731936 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.812183 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.731936 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366216;
longitude = -121.511457;
duration = 410;
initialDepth = 890.315785;
finalDepth = 890.731936;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.444645
#   Actual altitude:          54.444645
#   Commanded vehicle depth:  890.731936 
#   Seafloor depth:           -943.127834
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.505222 meters
#   Minimum depth: 940.315785 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.283682 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.315785 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365410;
longitude = -121.512008;
duration = 410;
initialDepth = 888.973180;
finalDepth = 890.315785;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.395898
#   Actual altitude:          52.395898
#   Commanded vehicle depth:  890.315785 
#   Seafloor depth:           -940.747219
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.505438 meters
#   Minimum depth: 938.973180 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.866529 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.973180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364604;
longitude = -121.512559;
duration = 410;
initialDepth = 886.201478;
finalDepth = 888.973180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2932890000001
#   Actual altitude:          51.2932890000001
#   Commanded vehicle depth:  888.97318 
#   Seafloor depth:           -940.266469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.505654 meters
#   Minimum depth: 936.201478 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.386097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.201478 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363797;
longitude = -121.513110;
duration = 410;
initialDepth = 884.797749;
finalDepth = 886.201478;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.668931
#   Actual altitude:          52.668931
#   Commanded vehicle depth:  886.201478 
#   Seafloor depth:           -938.870409
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.505871 meters
#   Minimum depth: 934.797749 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.147595 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.797749 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362991;
longitude = -121.513661;
duration = 410;
initialDepth = 883.533070;
finalDepth = 884.797749;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.668931
#   Actual altitude:          52.668931
#   Commanded vehicle depth:  884.797749 
#   Seafloor depth:           -936.102857
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 103.177374 meters
#   Minimum depth: 933.533070 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.528354 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.533070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362185;
longitude = -121.514212;
duration = 412;
initialDepth = 882.754077;
finalDepth = 883.533070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.305108
#   Actual altitude:          51.305108
#   Commanded vehicle depth:  883.53307 
#   Seafloor depth:           -934.771468
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 101.835015 meters
#   Minimum depth: 932.754077 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.345208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.754077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361373;
longitude = -121.514767;
duration = 407;
initialDepth = 880.796004;
finalDepth = 882.754077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2383980000001
#   Actual altitude:          51.2383980000001
#   Commanded vehicle depth:  882.754077 
#   Seafloor depth:           -933.523856
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.506519 meters
#   Minimum depth: 930.796004 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.048989 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.796004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360572;
longitude = -121.515314;
duration = 410;
initialDepth = 878.103707;
finalDepth = 880.796004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.833396
#   Actual altitude:          51.833396
#   Commanded vehicle depth:  880.796004 
#   Seafloor depth:           -932.629400
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.506735 meters
#   Minimum depth: 928.103707 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.634435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.103707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359766;
longitude = -121.515865;
duration = 410;
initialDepth = 876.453919;
finalDepth = 878.103707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.833396
#   Actual altitude:          51.833396
#   Commanded vehicle depth:  878.103707 
#   Seafloor depth:           -929.555369
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.506952 meters
#   Minimum depth: 926.453919 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.335880 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.453919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358959;
longitude = -121.516416;
duration = 410;
initialDepth = 875.192953;
finalDepth = 876.453919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9411749999999
#   Actual altitude:          51.9411749999999
#   Commanded vehicle depth:  876.453919 
#   Seafloor depth:           -928.395094
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.507167 meters
#   Minimum depth: 925.192953 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.306983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.192953 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358153;
longitude = -121.516967;
duration = 410;
initialDepth = 874.287334;
finalDepth = 875.192953;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9411749999999
#   Actual altitude:          51.9411749999999
#   Commanded vehicle depth:  875.192953 
#   Seafloor depth:           -926.166004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.507384 meters
#   Minimum depth: 924.287334 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.594693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.287334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357347;
longitude = -121.517518;
duration = 410;
initialDepth = 871.035645;
finalDepth = 874.287334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.771564
#   Actual altitude:          52.771564
#   Commanded vehicle depth:  874.287334 
#   Seafloor depth:           -927.058898
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.507599 meters
#   Minimum depth: 921.035645 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.594693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.035645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356540;
longitude = -121.518069;
duration = 410;
initialDepth = 871.035645;
finalDepth = 871.035645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.771564
#   Actual altitude:          52.771564
#   Commanded vehicle depth:  871.035645 
#   Seafloor depth:           -923.599100
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.507816 meters
#   Minimum depth: 921.035645 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.817017 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.035645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355734;
longitude = -121.518620;
duration = 410;
initialDepth = 872.082563;
finalDepth = 871.035645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.563455
#   Actual altitude:          52.563455
#   Commanded vehicle depth:  871.035645 
#   Seafloor depth:           -921.262426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 102.508032 meters
#   Minimum depth: 922.082563 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.009216 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.082563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.354928;
longitude = -121.519172;
duration = 410;
initialDepth = 873.902301;
finalDepth = 872.082563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.926653
#   Actual altitude:          54.926653
#   Commanded vehicle depth:  872.082563 
#   Seafloor depth:           -927.009216
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 109.651916 meters
#   Minimum depth: 923.902301 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.996861 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.902301 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.354122;
longitude = -121.519723;
duration = 438;
initialDepth = 874.555184;
finalDepth = 873.902301;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.926653
#   Actual altitude:          54.926653
#   Commanded vehicle depth:  873.902301 
#   Seafloor depth:           -926.307494
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 45
#   Segment length 150.030400 meters
#   Minimum depth: 924.555184 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.073237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.555184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.353259;
longitude = -121.520312;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 876.787094;
finalDepth = 874.555184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.4051930000001
#   Actual altitude:          52.4051930000001
#   Commanded vehicle depth:  874.555184 
#   Seafloor depth:           -925.597214
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 44
#   Segment length 172.700727 meters
#   Minimum depth: 926.787094 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.831773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.787094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.353919;
longitude = -121.521753;
duration = 690;
# abortOnTimeout    = True; 
initialDepth = 877.168241;
finalDepth = 876.787094;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.04203
#   Actual altitude:          51.04203
#   Commanded vehicle depth:  876.787094 
#   Seafloor depth:           -926.787094
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.510024 meters
#   Minimum depth: 927.168241 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.291826 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.168241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355277;
longitude = -121.520825;
duration = 410;
initialDepth = 878.156415;
finalDepth = 877.168241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.329783
#   Actual altitude:          50.329783
#   Commanded vehicle depth:  877.168241 
#   Seafloor depth:           -927.498024
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.509808 meters
#   Minimum depth: 928.156415 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.291826 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.156415 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356084;
longitude = -121.520274;
duration = 410;
initialDepth = 875.218579;
finalDepth = 878.156415;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.329783
#   Actual altitude:          50.329783
#   Commanded vehicle depth:  878.156415 
#   Seafloor depth:           -928.156415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.509592 meters
#   Minimum depth: 925.218579 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.414025 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.218579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356890;
longitude = -121.519723;
duration = 410;
initialDepth = 875.218579;
finalDepth = 875.218579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.079888
#   Actual altitude:          54.079888
#   Commanded vehicle depth:  875.218579 
#   Seafloor depth:           -929.298467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.509376 meters
#   Minimum depth: 925.218579 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.105270 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.218579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357697;
longitude = -121.519172;
duration = 410;
initialDepth = 876.356522;
finalDepth = 875.218579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.079888
#   Actual altitude:          54.079888
#   Commanded vehicle depth:  875.218579 
#   Seafloor depth:           -926.911936
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.509159 meters
#   Minimum depth: 926.356522 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.233318 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.356522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358503;
longitude = -121.518620;
duration = 410;
initialDepth = 879.571808;
finalDepth = 876.356522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.849647
#   Actual altitude:          52.849647
#   Commanded vehicle depth:  876.356522 
#   Seafloor depth:           -929.206169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.508944 meters
#   Minimum depth: 929.571808 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.746890 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.571808 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359309;
longitude = -121.518069;
duration = 410;
initialDepth = 881.041846;
finalDepth = 879.571808;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.849647
#   Actual altitude:          52.849647
#   Commanded vehicle depth:  879.571808 
#   Seafloor depth:           -930.821635
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.508727 meters
#   Minimum depth: 931.041846 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.699037 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.041846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360116;
longitude = -121.517518;
duration = 410;
initialDepth = 881.736284;
finalDepth = 881.041846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.249827
#   Actual altitude:          51.249827
#   Commanded vehicle depth:  881.041846 
#   Seafloor depth:           -931.863053
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.508511 meters
#   Minimum depth: 931.736284 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.619855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.736284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360922;
longitude = -121.516967;
duration = 410;
initialDepth = 883.627887;
finalDepth = 881.736284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.367292
#   Actual altitude:          51.367292
#   Commanded vehicle depth:  881.736284 
#   Seafloor depth:           -933.103576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.508295 meters
#   Minimum depth: 933.627887 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.782254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.627887 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361728;
longitude = -121.516416;
duration = 410;
initialDepth = 885.302406;
finalDepth = 883.627887;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.367292
#   Actual altitude:          51.367292
#   Commanded vehicle depth:  883.627887 
#   Seafloor depth:           -934.794610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.508079 meters
#   Minimum depth: 935.302406 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.447308 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.302406 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362535;
longitude = -121.515865;
duration = 410;
initialDepth = 887.472489;
finalDepth = 885.302406;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.640883
#   Actual altitude:          51.640883
#   Commanded vehicle depth:  885.302406 
#   Seafloor depth:           -936.943289
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.507863 meters
#   Minimum depth: 937.472489 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.082664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.472489 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363341;
longitude = -121.515314;
duration = 410;
initialDepth = 889.212961;
finalDepth = 887.472489;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.640883
#   Actual altitude:          51.640883
#   Commanded vehicle depth:  887.472489 
#   Seafloor depth:           -938.552656
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.672168 meters
#   Minimum depth: 939.212961 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.854370 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.212961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364147;
longitude = -121.514763;
duration = 410;
initialDepth = 890.669123;
finalDepth = 889.212961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.080167
#   Actual altitude:          51.080167
#   Commanded vehicle depth:  889.212961 
#   Seafloor depth:           -940.138957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.342909 meters
#   Minimum depth: 940.669123 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.782690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.669123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364955;
longitude = -121.514211;
duration = 409;
initialDepth = 892.220747;
finalDepth = 890.669123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.189207
#   Actual altitude:          51.189207
#   Commanded vehicle depth:  890.669123 
#   Seafloor depth:           -941.858330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.507214 meters
#   Minimum depth: 942.220747 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.837168 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.220747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365760;
longitude = -121.513661;
duration = 410;
initialDepth = 893.655319;
finalDepth = 892.220747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.189207
#   Actual altitude:          51.189207
#   Commanded vehicle depth:  892.220747 
#   Seafloor depth:           -943.237928
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.506998 meters
#   Minimum depth: 943.655319 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.862528 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.655319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366566;
longitude = -121.513110;
duration = 410;
initialDepth = 893.655319;
finalDepth = 893.655319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0171810000001
#   Actual altitude:          51.0171810000001
#   Commanded vehicle depth:  893.655319 
#   Seafloor depth:           -943.849602
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.506782 meters
#   Minimum depth: 943.655319 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.106944 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.655319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367373;
longitude = -121.512559;
duration = 410;
initialDepth = 893.692560;
finalDepth = 893.655319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.194283
#   Actual altitude:          50.194283
#   Commanded vehicle depth:  893.655319 
#   Seafloor depth:           -943.670838
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.506565 meters
#   Minimum depth: 943.692560 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.762475 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.692560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368179;
longitude = -121.512008;
duration = 410;
initialDepth = 893.784067;
finalDepth = 893.692560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.064197
#   Actual altitude:          50.064197
#   Commanded vehicle depth:  893.69256 
#   Seafloor depth:           -943.756757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.506350 meters
#   Minimum depth: 943.784067 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.208271 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.784067 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368985;
longitude = -121.511457;
duration = 410;
initialDepth = 895.579250;
finalDepth = 893.784067;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6122049999999
#   Actual altitude:          51.6122049999999
#   Commanded vehicle depth:  893.784067 
#   Seafloor depth:           -945.396272
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.506133 meters
#   Minimum depth: 945.579250 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.634163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.579250 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369792;
longitude = -121.510906;
duration = 410;
initialDepth = 897.866327;
finalDepth = 895.579250;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.813345
#   Actual altitude:          51.813345
#   Commanded vehicle depth:  895.57925 
#   Seafloor depth:           -947.392595
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.505918 meters
#   Minimum depth: 947.866327 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.829351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.866327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370598;
longitude = -121.510355;
duration = 410;
initialDepth = 896.605424;
finalDepth = 897.866327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.813345
#   Actual altitude:          51.813345
#   Commanded vehicle depth:  897.866327 
#   Seafloor depth:           -949.343713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.505701 meters
#   Minimum depth: 946.605424 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.829351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.605424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371404;
longitude = -121.509804;
duration = 410;
initialDepth = 892.631226;
finalDepth = 896.605424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.433077
#   Actual altitude:          53.433077
#   Commanded vehicle depth:  896.605424 
#   Seafloor depth:           -950.038501
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.505485 meters
#   Minimum depth: 942.631226 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.019242 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.631226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372211;
longitude = -121.509253;
duration = 410;
initialDepth = 890.813942;
finalDepth = 892.631226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.48544
#   Actual altitude:          53.48544
#   Commanded vehicle depth:  892.631226 
#   Seafloor depth:           -946.116666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.505269 meters
#   Minimum depth: 940.813942 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.228850 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.813942 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373017;
longitude = -121.508702;
duration = 410;
initialDepth = 890.813942;
finalDepth = 890.813942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.48544
#   Actual altitude:          53.48544
#   Commanded vehicle depth:  890.813942 
#   Seafloor depth:           -942.390938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.505053 meters
#   Minimum depth: 940.813942 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.874660 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.813942 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373824;
longitude = -121.508151;
duration = 410;
initialDepth = 890.542191;
finalDepth = 890.813942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.576996
#   Actual altitude:          51.576996
#   Commanded vehicle depth:  890.813942 
#   Seafloor depth:           -940.925623
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 102.504836 meters
#   Minimum depth: 940.542191 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.937779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.542191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374630;
longitude = -121.507600;
duration = 410;
initialDepth = 890.542191;
finalDepth = 890.542191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4310400000001
#   Actual altitude:          50.4310400000001
#   Commanded vehicle depth:  890.542191 
#   Seafloor depth:           -940.973231
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 103.627152 meters
#   Minimum depth: 940.542191 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.634016 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.542191 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375436;
longitude = -121.507048;
duration = 414;
initialDepth = 887.952392;
finalDepth = 890.542191;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.561281
#   Actual altitude:          51.561281
#   Commanded vehicle depth:  890.542191 
#   Seafloor depth:           -942.103472
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.074606 meters
#   Minimum depth: 937.952392 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.634016 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.952392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376251;
longitude = -121.506491;
duration = 420;
initialDepth = 881.274324;
finalDepth = 887.952392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.83146
#   Actual altitude:          58.83146
#   Commanded vehicle depth:  887.952392 
#   Seafloor depth:           -946.783852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.074378 meters
#   Minimum depth: 931.274324 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.346786 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.274324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377078;
longitude = -121.505927;
duration = 420;
initialDepth = 878.154560;
finalDepth = 881.274324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.83146
#   Actual altitude:          58.83146
#   Commanded vehicle depth:  881.274324 
#   Seafloor depth:           -937.675695
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.074151 meters
#   Minimum depth: 928.154560 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.342422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.154560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377905;
longitude = -121.505362;
duration = 420;
initialDepth = 875.411992;
finalDepth = 878.154560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.401371
#   Actual altitude:          56.401371
#   Commanded vehicle depth:  878.15456 
#   Seafloor depth:           -931.073736
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.073924 meters
#   Minimum depth: 925.411992 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.382764 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.411992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378731;
longitude = -121.504797;
duration = 420;
initialDepth = 874.023339;
finalDepth = 875.411992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9191760000001
#   Actual altitude:          52.9191760000001
#   Commanded vehicle depth:  875.411992 
#   Seafloor depth:           -927.827640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.073697 meters
#   Minimum depth: 924.023339 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.073939 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.023339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379558;
longitude = -121.504232;
duration = 420;
initialDepth = 872.674253;
finalDepth = 874.023339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4156479999999
#   Actual altitude:          52.4156479999999
#   Commanded vehicle depth:  874.023339 
#   Seafloor depth:           -925.100613
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.073470 meters
#   Minimum depth: 922.674253 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.584307 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.674253 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380384;
longitude = -121.503667;
duration = 420;
initialDepth = 872.298805;
finalDepth = 872.674253;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.17335
#   Actual altitude:          51.17335
#   Commanded vehicle depth:  872.674253 
#   Seafloor depth:           -923.847603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.073242 meters
#   Minimum depth: 922.298805 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.050075 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.298805 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381211;
longitude = -121.503102;
duration = 420;
initialDepth = 871.347586;
finalDepth = 872.298805;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.17335
#   Actual altitude:          51.17335
#   Commanded vehicle depth:  872.298805 
#   Seafloor depth:           -923.017629
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.073016 meters
#   Minimum depth: 921.347586 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.727310 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.347586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382037;
longitude = -121.502537;
duration = 420;
initialDepth = 869.772666;
finalDepth = 871.347586;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.134501
#   Actual altitude:          51.134501
#   Commanded vehicle depth:  871.347586 
#   Seafloor depth:           -922.482087
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.072789 meters
#   Minimum depth: 919.772666 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.124543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.772666 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382864;
longitude = -121.501973;
duration = 420;
initialDepth = 869.648922;
finalDepth = 869.772666;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3197680000001
#   Actual altitude:          51.3197680000001
#   Commanded vehicle depth:  869.772666 
#   Seafloor depth:           -921.092434
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.072561 meters
#   Minimum depth: 919.648922 meters looking forward 200.000000 meters along route
#   Maximum depth: 920.674766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.648922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383691;
longitude = -121.501408;
duration = 420;
initialDepth = 869.648922;
finalDepth = 869.648922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3197680000001
#   Actual altitude:          51.3197680000001
#   Commanded vehicle depth:  869.648922 
#   Seafloor depth:           -919.752428
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.072335 meters
#   Minimum depth: 919.648922 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.893414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.648922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384517;
longitude = -121.500843;
duration = 420;
initialDepth = 869.085559;
finalDepth = 869.648922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.587039
#   Actual altitude:          51.587039
#   Commanded vehicle depth:  869.648922 
#   Seafloor depth:           -921.235961
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 105.072107 meters
#   Minimum depth: 919.085559 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.893414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.085559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385344;
longitude = -121.500278;
duration = 420;
initialDepth = 868.881660;
finalDepth = 869.085559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.587039
#   Actual altitude:          51.587039
#   Commanded vehicle depth:  869.085559 
#   Seafloor depth:           -919.784300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 103.062427 meters
#   Minimum depth: 918.881660 meters looking forward 200.000000 meters along route
#   Maximum depth: 920.483212 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.881660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386170;
longitude = -121.499713;
duration = 412;
initialDepth = 867.870651;
finalDepth = 868.881660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.601552
#   Actual altitude:          51.601552
#   Commanded vehicle depth:  868.88166 
#   Seafloor depth:           -920.483212
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 43
#   Segment length 149.904724 meters
#   Minimum depth: 917.870651 meters looking forward 200.000000 meters along route
#   Maximum depth: 918.914201 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 867.870651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386981;
longitude = -121.499159;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 867.763443;
finalDepth = 867.870651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.601552
#   Actual altitude:          51.601552
#   Commanded vehicle depth:  867.870651 
#   Seafloor depth:           -917.870651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 42
#   Segment length 174.672746 meters
#   Minimum depth: 917.763443 meters looking forward 200.000000 meters along route
#   Maximum depth: 918.872019 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 867.763443 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387641;
longitude = -121.500599;
duration = 698;
# abortOnTimeout    = True; 
initialDepth = 868.497976;
finalDepth = 867.763443;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50
#   Actual altitude:          50
#   Commanded vehicle depth:  867.763443 
#   Seafloor depth:           -917.763443
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.501875 meters
#   Minimum depth: 918.497976 meters looking forward 200.000000 meters along route
#   Maximum depth: 919.752203 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.497976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386267;
longitude = -121.501538;
duration = 410;
initialDepth = 868.671885;
finalDepth = 868.497976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.05306
#   Actual altitude:          50.05306
#   Commanded vehicle depth:  868.497976 
#   Seafloor depth:           -918.551036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.502091 meters
#   Minimum depth: 918.671885 meters looking forward 200.000000 meters along route
#   Maximum depth: 920.317815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.671885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385461;
longitude = -121.502089;
duration = 410;
initialDepth = 869.432017;
finalDepth = 868.671885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9715580000001
#   Actual altitude:          50.9715580000001
#   Commanded vehicle depth:  868.671885 
#   Seafloor depth:           -919.643443
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.502307 meters
#   Minimum depth: 919.432017 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.239723 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.432017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384654;
longitude = -121.502640;
duration = 410;
initialDepth = 871.112246;
finalDepth = 869.432017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.061864
#   Actual altitude:          51.061864
#   Commanded vehicle depth:  869.432017 
#   Seafloor depth:           -920.493881
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.502524 meters
#   Minimum depth: 921.112246 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.775977 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.112246 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383848;
longitude = -121.503191;
duration = 410;
initialDepth = 874.574181;
finalDepth = 871.112246;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.951246
#   Actual altitude:          51.951246
#   Commanded vehicle depth:  871.112246 
#   Seafloor depth:           -923.063492
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.502739 meters
#   Minimum depth: 924.574181 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.696632 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.574181 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383041;
longitude = -121.503742;
duration = 410;
initialDepth = 874.959591;
finalDepth = 874.574181;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.415467
#   Actual altitude:          54.415467
#   Commanded vehicle depth:  874.574181 
#   Seafloor depth:           -928.989648
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.502955 meters
#   Minimum depth: 924.959591 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.696632 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.959591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382235;
longitude = -121.504293;
duration = 410;
initialDepth = 874.959591;
finalDepth = 874.959591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.415467
#   Actual altitude:          54.415467
#   Commanded vehicle depth:  874.959591 
#   Seafloor depth:           -925.364192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.503172 meters
#   Minimum depth: 924.959591 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.286253 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.959591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381429;
longitude = -121.504844;
duration = 410;
initialDepth = 875.745353;
finalDepth = 874.959591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6112159999999
#   Actual altitude:          50.6112159999999
#   Commanded vehicle depth:  874.959591 
#   Seafloor depth:           -925.570807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.503388 meters
#   Minimum depth: 925.745353 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.877128 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.745353 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380622;
longitude = -121.505395;
duration = 410;
initialDepth = 877.494123;
finalDepth = 875.745353;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.64549
#   Actual altitude:          51.64549
#   Commanded vehicle depth:  875.745353 
#   Seafloor depth:           -927.390843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.898267 meters
#   Minimum depth: 927.494123 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.584429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.494123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379816;
longitude = -121.505946;
duration = 411;
initialDepth = 879.561437;
finalDepth = 877.494123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.64549
#   Actual altitude:          51.64549
#   Commanded vehicle depth:  877.494123 
#   Seafloor depth:           -928.927817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.109157 meters
#   Minimum depth: 929.561437 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.207793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.561437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379007;
longitude = -121.506500;
duration = 408;
initialDepth = 882.003240;
finalDepth = 879.561437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.038674
#   Actual altitude:          52.038674
#   Commanded vehicle depth:  879.561437 
#   Seafloor depth:           -931.600111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.504036 meters
#   Minimum depth: 932.003240 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.486887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.003240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378203;
longitude = -121.507048;
duration = 410;
initialDepth = 886.301723;
finalDepth = 882.003240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.038674
#   Actual altitude:          52.038674
#   Commanded vehicle depth:  882.00324 
#   Seafloor depth:           -933.870640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.504252 meters
#   Minimum depth: 936.301723 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.821116 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.301723 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377397;
longitude = -121.507600;
duration = 410;
initialDepth = 889.460510;
finalDepth = 886.301723;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.041608
#   Actual altitude:          53.041608
#   Commanded vehicle depth:  886.301723 
#   Seafloor depth:           -939.343331
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.504469 meters
#   Minimum depth: 939.460510 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.821116 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.460510 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376591;
longitude = -121.508151;
duration = 410;
initialDepth = 890.773644;
finalDepth = 889.460510;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.179698
#   Actual altitude:          53.179698
#   Commanded vehicle depth:  889.46051 
#   Seafloor depth:           -942.640208
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.504684 meters
#   Minimum depth: 940.773644 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.106699 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.773644 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375784;
longitude = -121.508702;
duration = 410;
initialDepth = 891.117212;
finalDepth = 890.773644;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.179698
#   Actual altitude:          53.179698
#   Commanded vehicle depth:  890.773644 
#   Seafloor depth:           -941.040431
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.504901 meters
#   Minimum depth: 941.117212 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.836575 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.117212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374978;
longitude = -121.509253;
duration = 410;
initialDepth = 894.120609;
finalDepth = 891.117212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4087930000001
#   Actual altitude:          52.4087930000001
#   Commanded vehicle depth:  891.117212 
#   Seafloor depth:           -943.526005
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.505117 meters
#   Minimum depth: 944.120609 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.991760 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.120609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374172;
longitude = -121.509804;
duration = 410;
initialDepth = 894.120609;
finalDepth = 894.120609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4087930000001
#   Actual altitude:          52.4087930000001
#   Commanded vehicle depth:  894.120609 
#   Seafloor depth:           -944.264814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.505332 meters
#   Minimum depth: 944.120609 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.985034 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.120609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373365;
longitude = -121.510355;
duration = 410;
initialDepth = 897.686954;
finalDepth = 894.120609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5964630000001
#   Actual altitude:          52.5964630000001
#   Commanded vehicle depth:  894.120609 
#   Seafloor depth:           -946.717072
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.505550 meters
#   Minimum depth: 947.686954 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.394329 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.686954 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372559;
longitude = -121.510906;
duration = 410;
initialDepth = 904.068725;
finalDepth = 897.686954;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.599205
#   Actual altitude:          56.599205
#   Commanded vehicle depth:  897.686954 
#   Seafloor depth:           -954.286159
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.505765 meters
#   Minimum depth: 954.068725 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.394329 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.068725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371753;
longitude = -121.511457;
duration = 410;
initialDepth = 899.823266;
finalDepth = 904.068725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.0345140000001
#   Actual altitude:          57.0345140000001
#   Commanded vehicle depth:  904.068725 
#   Seafloor depth:           -961.103239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.505981 meters
#   Minimum depth: 949.823266 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.592435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.823266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370946;
longitude = -121.512008;
duration = 410;
initialDepth = 897.222764;
finalDepth = 899.823266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.0345140000001
#   Actual altitude:          57.0345140000001
#   Commanded vehicle depth:  899.823266 
#   Seafloor depth:           -953.788281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.506198 meters
#   Minimum depth: 947.222764 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.222116 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.222764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370140;
longitude = -121.512559;
duration = 410;
initialDepth = 896.228718;
finalDepth = 897.222764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.965015
#   Actual altitude:          53.965015
#   Commanded vehicle depth:  897.222764 
#   Seafloor depth:           -949.484368
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.506414 meters
#   Minimum depth: 946.228718 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.343190 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.228718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369334;
longitude = -121.513110;
duration = 410;
initialDepth = 896.052667;
finalDepth = 896.228718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.261604
#   Actual altitude:          52.261604
#   Commanded vehicle depth:  896.228718 
#   Seafloor depth:           -947.168246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 103.859341 meters
#   Minimum depth: 946.052667 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.400268 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.052667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368527;
longitude = -121.513661;
duration = 415;
initialDepth = 896.052667;
finalDepth = 896.052667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.939528
#   Actual altitude:          50.939528
#   Commanded vehicle depth:  896.052667 
#   Seafloor depth:           -946.228237
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.154135 meters
#   Minimum depth: 946.052667 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.737474 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.052667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367710;
longitude = -121.514219;
duration = 404;
initialDepth = 895.003880;
finalDepth = 896.052667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.396711
#   Actual altitude:          51.396711
#   Commanded vehicle depth:  896.052667 
#   Seafloor depth:           -947.449378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.507062 meters
#   Minimum depth: 945.003880 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.737474 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.003880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366914;
longitude = -121.514763;
duration = 410;
initialDepth = 893.687796;
finalDepth = 895.003880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.396711
#   Actual altitude:          51.396711
#   Commanded vehicle depth:  895.00388 
#   Seafloor depth:           -945.955447
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.507278 meters
#   Minimum depth: 943.687796 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.614301 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.687796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366108;
longitude = -121.515314;
duration = 410;
initialDepth = 891.859691;
finalDepth = 893.687796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9866659999999
#   Actual altitude:          50.9866659999999
#   Commanded vehicle depth:  893.687796 
#   Seafloor depth:           -944.674462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.507495 meters
#   Minimum depth: 941.859691 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.627572 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.859691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365302;
longitude = -121.515865;
duration = 410;
initialDepth = 890.303278;
finalDepth = 891.859691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.251712
#   Actual altitude:          51.251712
#   Commanded vehicle depth:  891.859691 
#   Seafloor depth:           -943.111403
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.507711 meters
#   Minimum depth: 940.303278 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.014542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.303278 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364495;
longitude = -121.516416;
duration = 410;
initialDepth = 888.488491;
finalDepth = 890.303278;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.307773
#   Actual altitude:          51.307773
#   Commanded vehicle depth:  890.303278 
#   Seafloor depth:           -941.611051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.507927 meters
#   Minimum depth: 938.488491 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.539524 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.488491 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363689;
longitude = -121.516967;
duration = 410;
initialDepth = 887.457534;
finalDepth = 888.488491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5559450000001
#   Actual altitude:          51.5559450000001
#   Commanded vehicle depth:  888.488491 
#   Seafloor depth:           -940.044436
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.508143 meters
#   Minimum depth: 937.457534 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.918198 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.457534 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362883;
longitude = -121.517518;
duration = 410;
initialDepth = 885.633848;
finalDepth = 887.457534;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5559450000001
#   Actual altitude:          51.5559450000001
#   Commanded vehicle depth:  887.457534 
#   Seafloor depth:           -938.219822
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.508359 meters
#   Minimum depth: 935.633848 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.417464 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.633848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362076;
longitude = -121.518069;
duration = 410;
initialDepth = 884.314572;
finalDepth = 885.633848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3926640000001
#   Actual altitude:          51.3926640000001
#   Commanded vehicle depth:  885.633848 
#   Seafloor depth:           -937.026512
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.508575 meters
#   Minimum depth: 934.314572 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.691686 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.314572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361270;
longitude = -121.518620;
duration = 410;
initialDepth = 882.798945;
finalDepth = 884.314572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3926640000001
#   Actual altitude:          51.3926640000001
#   Commanded vehicle depth:  884.314572 
#   Seafloor depth:           -935.527772
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.508792 meters
#   Minimum depth: 932.798945 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.360644 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.798945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360464;
longitude = -121.519172;
duration = 410;
initialDepth = 880.092515;
finalDepth = 882.798945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2132
#   Actual altitude:          51.2132
#   Commanded vehicle depth:  882.798945 
#   Seafloor depth:           -933.962499
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.509008 meters
#   Minimum depth: 930.092515 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.553196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.092515 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359657;
longitude = -121.519723;
duration = 410;
initialDepth = 878.111273;
finalDepth = 880.092515;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.53153
#   Actual altitude:          52.53153
#   Commanded vehicle depth:  880.092515 
#   Seafloor depth:           -932.624045
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.509224 meters
#   Minimum depth: 928.111273 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.321315 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.111273 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358851;
longitude = -121.520274;
duration = 410;
initialDepth = 875.633865;
finalDepth = 878.111273;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0920620000001
#   Actual altitude:          54.0920620000001
#   Commanded vehicle depth:  878.111273 
#   Seafloor depth:           -932.203335
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.509440 meters
#   Minimum depth: 925.633865 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.040387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.633865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358045;
longitude = -121.520825;
duration = 410;
initialDepth = 875.633865;
finalDepth = 875.633865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0920620000001
#   Actual altitude:          54.0920620000001
#   Commanded vehicle depth:  875.633865 
#   Seafloor depth:           -928.461233
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 104.820472 meters
#   Minimum depth: 925.633865 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.040387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.633865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357238;
longitude = -121.521376;
duration = 419;
initialDepth = 879.705146;
finalDepth = 875.633865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.383646
#   Actual altitude:          57.383646
#   Commanded vehicle depth:  875.633865 
#   Seafloor depth:           -933.017511
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 105.080224 meters
#   Minimum depth: 929.705146 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.270184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.705146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356414;
longitude = -121.521939;
duration = 420;
initialDepth = 879.100850;
finalDepth = 879.705146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.383646
#   Actual altitude:          57.383646
#   Commanded vehicle depth:  879.705146 
#   Seafloor depth:           -930.251369
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 128.169573 meters
#   Minimum depth: 929.100850 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.270184 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.100850 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355587;
longitude = -121.522504;
duration = 512;
initialDepth = 878.858551;
finalDepth = 879.100850;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.089027
#   Actual altitude:          52.089027
#   Commanded vehicle depth:  879.10085 
#   Seafloor depth:           -931.189877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 41
#   Segment length 150.082579 meters
#   Minimum depth: 928.858551 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.052228 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.858551 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.354579;
longitude = -121.523193;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 880.436909;
finalDepth = 878.858551;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.089027
#   Actual altitude:          52.089027
#   Commanded vehicle depth:  878.858551 
#   Seafloor depth:           -928.858551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 40
#   Segment length 93.586930 meters
#   Minimum depth: 930.436909 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.270055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.436909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355240;
longitude = -121.524634;
duration = 374;
# abortOnTimeout    = True; 
initialDepth = 881.270340;
finalDepth = 880.436909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.172451
#   Actual altitude:          51.172451
#   Commanded vehicle depth:  880.436909 
#   Seafloor depth:           -931.609360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.509720 meters
#   Minimum depth: 931.270340 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.270055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.270340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355976;
longitude = -121.524131;
duration = 410;
initialDepth = 883.003267;
finalDepth = 881.270340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.172451
#   Actual altitude:          51.172451
#   Commanded vehicle depth:  881.27034 
#   Seafloor depth:           -931.331500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.509505 meters
#   Minimum depth: 933.003267 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.571125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.003267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356783;
longitude = -121.523580;
duration = 410;
initialDepth = 880.413686;
finalDepth = 883.003267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3468879999999
#   Actual altitude:          51.3468879999999
#   Commanded vehicle depth:  883.003267 
#   Seafloor depth:           -934.350155
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.509288 meters
#   Minimum depth: 930.413686 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.571125 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.413686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357589;
longitude = -121.523029;
duration = 410;
initialDepth = 878.283617;
finalDepth = 880.413686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.589189
#   Actual altitude:          54.589189
#   Commanded vehicle depth:  880.413686 
#   Seafloor depth:           -935.002875
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.509071 meters
#   Minimum depth: 928.283617 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.810897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.283617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358395;
longitude = -121.522478;
duration = 410;
initialDepth = 877.938435;
finalDepth = 878.283617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.589189
#   Actual altitude:          54.589189
#   Commanded vehicle depth:  878.283617 
#   Seafloor depth:           -930.249982
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.508856 meters
#   Minimum depth: 927.938435 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.688635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.938435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359202;
longitude = -121.521927;
duration = 410;
initialDepth = 877.938435;
finalDepth = 877.938435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2394499999999
#   Actual altitude:          52.2394499999999
#   Commanded vehicle depth:  877.938435 
#   Seafloor depth:           -930.177885
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 103.508061 meters
#   Minimum depth: 927.938435 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.100159 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.938435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360008;
longitude = -121.521376;
duration = 414;
initialDepth = 883.857927;
finalDepth = 877.938435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.6638459999999
#   Actual altitude:          56.6638459999999
#   Commanded vehicle depth:  877.938435 
#   Seafloor depth:           -934.602281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 101.509001 meters
#   Minimum depth: 933.857927 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.266077 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.857927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360822;
longitude = -121.520819;
duration = 406;
initialDepth = 887.077428;
finalDepth = 883.857927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.6638459999999
#   Actual altitude:          56.6638459999999
#   Commanded vehicle depth:  883.857927 
#   Seafloor depth:           -936.090680
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.508207 meters
#   Minimum depth: 937.077428 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.404273 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.077428 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361621;
longitude = -121.520274;
duration = 410;
initialDepth = 887.559975;
finalDepth = 887.077428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.232753
#   Actual altitude:          52.232753
#   Commanded vehicle depth:  887.077428 
#   Seafloor depth:           -937.462938
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.507990 meters
#   Minimum depth: 937.559975 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.467573 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.559975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362427;
longitude = -121.519723;
duration = 410;
initialDepth = 888.064176;
finalDepth = 887.559975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.38551
#   Actual altitude:          50.38551
#   Commanded vehicle depth:  887.559975 
#   Seafloor depth:           -937.927252
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.507775 meters
#   Minimum depth: 938.064176 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.103287 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.064176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363233;
longitude = -121.519172;
duration = 410;
initialDepth = 889.936022;
finalDepth = 888.064176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.726814
#   Actual altitude:          51.726814
#   Commanded vehicle depth:  888.064176 
#   Seafloor depth:           -939.790990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.507558 meters
#   Minimum depth: 939.936022 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.802623 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.936022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364040;
longitude = -121.518620;
duration = 410;
initialDepth = 891.769753;
finalDepth = 889.936022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.726814
#   Actual altitude:          51.726814
#   Commanded vehicle depth:  889.936022 
#   Seafloor depth:           -941.610579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.507342 meters
#   Minimum depth: 941.769753 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.334533 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.769753 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364846;
longitude = -121.518069;
duration = 410;
initialDepth = 893.217842;
finalDepth = 891.769753;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.674557
#   Actual altitude:          51.674557
#   Commanded vehicle depth:  891.769753 
#   Seafloor depth:           -942.882981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.507126 meters
#   Minimum depth: 943.217842 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.154995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.217842 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365652;
longitude = -121.517518;
duration = 410;
initialDepth = 895.198886;
finalDepth = 893.217842;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.473084
#   Actual altitude:          51.473084
#   Commanded vehicle depth:  893.217842 
#   Seafloor depth:           -944.690926
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.506910 meters
#   Minimum depth: 945.198886 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.958476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.198886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366459;
longitude = -121.516967;
duration = 410;
initialDepth = 897.004358;
finalDepth = 895.198886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.473084
#   Actual altitude:          51.473084
#   Commanded vehicle depth:  895.198886 
#   Seafloor depth:           -946.565785
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.506693 meters
#   Minimum depth: 947.004358 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.734710 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.004358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367265;
longitude = -121.516416;
duration = 410;
initialDepth = 898.248964;
finalDepth = 897.004358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.366899
#   Actual altitude:          51.366899
#   Commanded vehicle depth:  897.004358 
#   Seafloor depth:           -948.089665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.506478 meters
#   Minimum depth: 948.248964 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.913925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.248964 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368071;
longitude = -121.515865;
duration = 410;
initialDepth = 900.919061;
finalDepth = 898.248964;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8381460000001
#   Actual altitude:          51.8381460000001
#   Commanded vehicle depth:  898.248964 
#   Seafloor depth:           -950.087110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.506261 meters
#   Minimum depth: 950.919061 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.955770 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.919061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368878;
longitude = -121.515314;
duration = 410;
initialDepth = 900.506145;
finalDepth = 900.919061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8381460000001
#   Actual altitude:          51.8381460000001
#   Commanded vehicle depth:  900.919061 
#   Seafloor depth:           -952.106298
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.506045 meters
#   Minimum depth: 950.506145 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.955770 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.506145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369684;
longitude = -121.514763;
duration = 410;
initialDepth = 900.449749;
finalDepth = 900.506145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.979233
#   Actual altitude:          51.979233
#   Commanded vehicle depth:  900.506145 
#   Seafloor depth:           -952.485378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.505828 meters
#   Minimum depth: 950.449749 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.995954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.449749 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370490;
longitude = -121.514212;
duration = 410;
initialDepth = 900.449749;
finalDepth = 900.449749;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.979233
#   Actual altitude:          51.979233
#   Commanded vehicle depth:  900.449749 
#   Seafloor depth:           -950.522445
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 104.463030 meters
#   Minimum depth: 950.449749 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.043845 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.449749 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371297;
longitude = -121.513661;
duration = 417;
initialDepth = 902.401591;
finalDepth = 900.449749;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5541480000001
#   Actual altitude:          51.5541480000001
#   Commanded vehicle depth:  900.449749 
#   Seafloor depth:           -952.003897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 100.547979 meters
#   Minimum depth: 952.401591 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.685799 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.401591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372119;
longitude = -121.513099;
duration = 402;
initialDepth = 900.319744;
finalDepth = 902.401591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7394449999999
#   Actual altitude:          51.7394449999999
#   Commanded vehicle depth:  902.401591 
#   Seafloor depth:           -954.141036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.505181 meters
#   Minimum depth: 950.319744 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.685799 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.319744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372910;
longitude = -121.512559;
duration = 410;
initialDepth = 896.770292;
finalDepth = 900.319744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.371676
#   Actual altitude:          53.371676
#   Commanded vehicle depth:  900.319744 
#   Seafloor depth:           -953.691420
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.504964 meters
#   Minimum depth: 946.770292 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.295758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.770292 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373716;
longitude = -121.512008;
duration = 410;
initialDepth = 896.092373;
finalDepth = 896.770292;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.371676
#   Actual altitude:          53.371676
#   Commanded vehicle depth:  896.770292 
#   Seafloor depth:           -949.404862
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.504747 meters
#   Minimum depth: 946.092373 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.170557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.092373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374522;
longitude = -121.511457;
duration = 410;
initialDepth = 896.092373;
finalDepth = 896.092373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6345699999999
#   Actual altitude:          52.6345699999999
#   Commanded vehicle depth:  896.092373 
#   Seafloor depth:           -946.162806
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.504532 meters
#   Minimum depth: 946.092373 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.262794 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.092373 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375329;
longitude = -121.510906;
duration = 410;
initialDepth = 894.677553;
finalDepth = 896.092373;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.092118
#   Actual altitude:          56.092118
#   Commanded vehicle depth:  896.092373 
#   Seafloor depth:           -952.184491
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.504316 meters
#   Minimum depth: 944.677553 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.262794 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.677553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376135;
longitude = -121.510355;
duration = 410;
initialDepth = 894.677553;
finalDepth = 894.677553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.092118
#   Actual altitude:          56.092118
#   Commanded vehicle depth:  894.677553 
#   Seafloor depth:           -945.470011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.504099 meters
#   Minimum depth: 944.677553 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.777665 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.677553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376941;
longitude = -121.509804;
duration = 410;
initialDepth = 891.026230;
finalDepth = 894.677553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2010780000001
#   Actual altitude:          51.2010780000001
#   Commanded vehicle depth:  894.677553 
#   Seafloor depth:           -945.878631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.503884 meters
#   Minimum depth: 941.026230 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.777665 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.026230 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377748;
longitude = -121.509253;
duration = 410;
initialDepth = 887.247298;
finalDepth = 891.026230;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.028147
#   Actual altitude:          55.028147
#   Commanded vehicle depth:  891.02623 
#   Seafloor depth:           -946.054377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.503667 meters
#   Minimum depth: 937.247298 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.949996 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.247298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378554;
longitude = -121.508702;
duration = 410;
initialDepth = 883.420211;
finalDepth = 887.247298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.028147
#   Actual altitude:          55.028147
#   Commanded vehicle depth:  887.247298 
#   Seafloor depth:           -940.602670
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.503451 meters
#   Minimum depth: 933.420211 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.645626 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.420211 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379360;
longitude = -121.508151;
duration = 410;
initialDepth = 880.436814;
finalDepth = 883.420211;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.358818
#   Actual altitude:          53.358818
#   Commanded vehicle depth:  883.420211 
#   Seafloor depth:           -936.779029
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.503234 meters
#   Minimum depth: 930.436814 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.014805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.436814 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380167;
longitude = -121.507600;
duration = 410;
initialDepth = 880.010513;
finalDepth = 880.436814;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.358818
#   Actual altitude:          53.358818
#   Commanded vehicle depth:  880.436814 
#   Seafloor depth:           -932.974170
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.503019 meters
#   Minimum depth: 930.010513 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.260802 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.010513 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380973;
longitude = -121.507048;
duration = 410;
initialDepth = 878.741083;
finalDepth = 880.010513;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5373559999999
#   Actual altitude:          52.5373559999999
#   Commanded vehicle depth:  880.010513 
#   Seafloor depth:           -930.394275
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.848001 meters
#   Minimum depth: 928.741083 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.194501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.741083 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381779;
longitude = -121.506497;
duration = 411;
initialDepth = 876.305540;
finalDepth = 878.741083;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.222648
#   Actual altitude:          52.222648
#   Commanded vehicle depth:  878.741083 
#   Seafloor depth:           -930.963731
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.157388 meters
#   Minimum depth: 926.305540 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.194501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.305540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382588;
longitude = -121.505945;
duration = 408;
initialDepth = 874.464974;
finalDepth = 876.305540;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4198140000001
#   Actual altitude:          52.4198140000001
#   Commanded vehicle depth:  876.30554 
#   Seafloor depth:           -928.725354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.502370 meters
#   Minimum depth: 924.464974 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.716873 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.464974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383392;
longitude = -121.505395;
duration = 410;
initialDepth = 872.739464;
finalDepth = 874.464974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4198140000001
#   Actual altitude:          52.4198140000001
#   Commanded vehicle depth:  874.464974 
#   Seafloor depth:           -925.174661
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.502155 meters
#   Minimum depth: 922.739464 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.603031 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.739464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384198;
longitude = -121.504844;
duration = 410;
initialDepth = 872.628576;
finalDepth = 872.739464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.343255
#   Actual altitude:          51.343255
#   Commanded vehicle depth:  872.739464 
#   Seafloor depth:           -924.082719
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.501938 meters
#   Minimum depth: 922.628576 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.942597 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.628576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385005;
longitude = -121.504293;
duration = 410;
initialDepth = 872.628576;
finalDepth = 872.628576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.343255
#   Actual altitude:          51.343255
#   Commanded vehicle depth:  872.628576 
#   Seafloor depth:           -922.819062
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.501722 meters
#   Minimum depth: 922.628576 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.540566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.628576 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385811;
longitude = -121.503742;
duration = 410;
initialDepth = 871.361005;
finalDepth = 872.628576;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5405410000001
#   Actual altitude:          50.5405410000001
#   Commanded vehicle depth:  872.628576 
#   Seafloor depth:           -923.169117
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 102.501505 meters
#   Minimum depth: 921.361005 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.540566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.361005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386617;
longitude = -121.503191;
duration = 410;
initialDepth = 868.791817;
finalDepth = 871.361005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.539981
#   Actual altitude:          51.539981
#   Commanded vehicle depth:  871.361005 
#   Seafloor depth:           -922.900986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 40
#   Segment length 111.631179 meters
#   Minimum depth: 918.791817 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.925841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.791817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387424;
longitude = -121.502640;
duration = 446;
initialDepth = 868.466200;
finalDepth = 868.791817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.288145
#   Actual altitude:          52.288145
#   Commanded vehicle depth:  868.791817 
#   Seafloor depth:           -921.079962
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 150.036192 meters
#   Minimum depth: 918.466200 meters looking forward 200.000000 meters along route
#   Maximum depth: 919.535851 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 868.466200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388302;
longitude = -121.502040;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 869.340004;
finalDepth = 868.466200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.288145
#   Actual altitude:          52.288145
#   Commanded vehicle depth:  868.4662 
#   Seafloor depth:           -918.547150
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 38
#   Segment length 99.846191 meters
#   Minimum depth: 919.340004 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.150927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.340004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388963;
longitude = -121.503481;
duration = 399;
# abortOnTimeout    = True; 
initialDepth = 869.607463;
finalDepth = 869.340004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.564262
#   Actual altitude:          50.564262
#   Commanded vehicle depth:  869.340004 
#   Seafloor depth:           -919.904266
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.507060 meters
#   Minimum depth: 919.607463 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.052889 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.607463 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388178;
longitude = -121.504018;
duration = 410;
initialDepth = 873.628956;
finalDepth = 869.607463;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.652484
#   Actual altitude:          53.652484
#   Commanded vehicle depth:  869.607463 
#   Seafloor depth:           -923.259947
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.507277 meters
#   Minimum depth: 923.628956 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.687254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.628956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387371;
longitude = -121.504569;
duration = 410;
initialDepth = 875.308935;
finalDepth = 873.628956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.565294
#   Actual altitude:          55.565294
#   Commanded vehicle depth:  873.628956 
#   Seafloor depth:           -929.194250
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.507493 meters
#   Minimum depth: 925.308935 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.687254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.308935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386565;
longitude = -121.505120;
duration = 410;
initialDepth = 875.308935;
finalDepth = 875.308935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.565294
#   Actual altitude:          55.565294
#   Commanded vehicle depth:  875.308935 
#   Seafloor depth:           -929.332293
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.507709 meters
#   Minimum depth: 925.308935 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.031451 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.308935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385758;
longitude = -121.505671;
duration = 410;
initialDepth = 876.066943;
finalDepth = 875.308935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.023358
#   Actual altitude:          54.023358
#   Commanded vehicle depth:  875.308935 
#   Seafloor depth:           -925.588026
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.507925 meters
#   Minimum depth: 926.066943 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.800716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.066943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384952;
longitude = -121.506222;
duration = 410;
initialDepth = 876.623866;
finalDepth = 876.066943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.279091
#   Actual altitude:          50.279091
#   Commanded vehicle depth:  876.066943 
#   Seafloor depth:           -926.263132
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.508142 meters
#   Minimum depth: 926.623866 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.869229 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.623866 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384145;
longitude = -121.506773;
duration = 410;
initialDepth = 878.475188;
finalDepth = 876.623866;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.449157
#   Actual altitude:          51.449157
#   Commanded vehicle depth:  876.623866 
#   Seafloor depth:           -928.073023
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.508357 meters
#   Minimum depth: 928.475188 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.939011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.475188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383339;
longitude = -121.507324;
duration = 410;
initialDepth = 880.921009;
finalDepth = 878.475188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.708453
#   Actual altitude:          51.708453
#   Commanded vehicle depth:  878.475188 
#   Seafloor depth:           -930.183641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.508574 meters
#   Minimum depth: 930.921009 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.069530 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.921009 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382533;
longitude = -121.507875;
duration = 410;
initialDepth = 881.070550;
finalDepth = 880.921009;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.708453
#   Actual altitude:          51.708453
#   Commanded vehicle depth:  880.921009 
#   Seafloor depth:           -932.019513
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.508790 meters
#   Minimum depth: 931.070550 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.548717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.070550 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381726;
longitude = -121.508426;
duration = 410;
initialDepth = 881.745414;
finalDepth = 881.070550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0985039999999
#   Actual altitude:          51.0985039999999
#   Commanded vehicle depth:  881.07055 
#   Seafloor depth:           -931.118884
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 103.104211 meters
#   Minimum depth: 931.745414 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.829546 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.745414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380920;
longitude = -121.508977;
duration = 412;
initialDepth = 884.031385;
finalDepth = 881.745414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.802946
#   Actual altitude:          51.802946
#   Commanded vehicle depth:  881.745414 
#   Seafloor depth:           -933.548360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 101.914017 meters
#   Minimum depth: 934.031385 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.608227 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.031385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380109;
longitude = -121.509531;
duration = 407;
initialDepth = 888.598381;
finalDepth = 884.031385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.823269
#   Actual altitude:          53.823269
#   Commanded vehicle depth:  884.031385 
#   Seafloor depth:           -937.854654
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.509438 meters
#   Minimum depth: 938.598381 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.881038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.598381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379307;
longitude = -121.510079;
duration = 410;
initialDepth = 894.738223;
finalDepth = 888.598381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.066392
#   Actual altitude:          54.066392
#   Commanded vehicle depth:  888.598381 
#   Seafloor depth:           -942.664773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.509655 meters
#   Minimum depth: 944.738223 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.933553 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.738223 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378501;
longitude = -121.510630;
duration = 410;
initialDepth = 895.845212;
finalDepth = 894.738223;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.3973110000001
#   Actual altitude:          57.3973110000001
#   Commanded vehicle depth:  894.738223 
#   Seafloor depth:           -952.135534
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.509871 meters
#   Minimum depth: 945.845212 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.933553 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.845212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377694;
longitude = -121.511181;
duration = 410;
initialDepth = 894.104960;
finalDepth = 895.845212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8568110000001
#   Actual altitude:          58.8568110000001
#   Commanded vehicle depth:  895.845212 
#   Seafloor depth:           -954.702023
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.510086 meters
#   Minimum depth: 944.104960 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.817648 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.104960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376888;
longitude = -121.511732;
duration = 410;
initialDepth = 894.104960;
finalDepth = 894.104960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8568110000001
#   Actual altitude:          58.8568110000001
#   Commanded vehicle depth:  894.10496 
#   Seafloor depth:           -944.883323
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.510304 meters
#   Minimum depth: 944.104960 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.486291 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.104960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376081;
longitude = -121.512283;
duration = 410;
initialDepth = 895.172324;
finalDepth = 894.104960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.895727
#   Actual altitude:          50.895727
#   Commanded vehicle depth:  894.10496 
#   Seafloor depth:           -945.000687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.510519 meters
#   Minimum depth: 945.172324 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.174765 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.172324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375275;
longitude = -121.512834;
duration = 410;
initialDepth = 898.002875;
finalDepth = 895.172324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.881839
#   Actual altitude:          51.881839
#   Commanded vehicle depth:  895.172324 
#   Seafloor depth:           -947.054163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.510735 meters
#   Minimum depth: 948.002875 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.707188 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.002875 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374469;
longitude = -121.513386;
duration = 410;
initialDepth = 903.618406;
finalDepth = 898.002875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.7880769999999
#   Actual altitude:          56.7880769999999
#   Commanded vehicle depth:  898.002875 
#   Seafloor depth:           -954.790952
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.510952 meters
#   Minimum depth: 953.618406 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.707188 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.618406 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373662;
longitude = -121.513937;
duration = 410;
initialDepth = 902.581238;
finalDepth = 903.618406;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.7880769999999
#   Actual altitude:          56.7880769999999
#   Commanded vehicle depth:  903.618406 
#   Seafloor depth:           -960.065402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.511168 meters
#   Minimum depth: 952.581238 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.945123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.581238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372856;
longitude = -121.514488;
duration = 410;
initialDepth = 902.581238;
finalDepth = 902.581238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.4469959999999
#   Actual altitude:          56.4469959999999
#   Commanded vehicle depth:  902.581238 
#   Seafloor depth:           -953.523317
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.511384 meters
#   Minimum depth: 952.581238 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.571500 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.581238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372049;
longitude = -121.515039;
duration = 410;
initialDepth = 902.898402;
finalDepth = 902.581238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.942079
#   Actual altitude:          50.942079
#   Commanded vehicle depth:  902.581238 
#   Seafloor depth:           -952.728131
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.511600 meters
#   Minimum depth: 952.898402 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.862594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.898402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371243;
longitude = -121.515590;
duration = 410;
initialDepth = 903.067097;
finalDepth = 902.898402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.146893
#   Actual altitude:          50.146893
#   Commanded vehicle depth:  902.898402 
#   Seafloor depth:           -952.920462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.511816 meters
#   Minimum depth: 953.067097 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.075334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.067097 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370436;
longitude = -121.516141;
duration = 410;
initialDepth = 903.051062;
finalDepth = 903.067097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.132491
#   Actual altitude:          54.132491
#   Commanded vehicle depth:  903.067097 
#   Seafloor depth:           -957.199588
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 103.958345 meters
#   Minimum depth: 953.051062 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.075334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.051062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369630;
longitude = -121.516692;
duration = 415;
initialDepth = 900.573991;
finalDepth = 903.051062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.434547
#   Actual altitude:          55.434547
#   Commanded vehicle depth:  903.051062 
#   Seafloor depth:           -958.485609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 101.065937 meters
#   Minimum depth: 950.573991 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.783624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.573991 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368812;
longitude = -121.517251;
duration = 404;
initialDepth = 899.360321;
finalDepth = 900.573991;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.434547
#   Actual altitude:          55.434547
#   Commanded vehicle depth:  900.573991 
#   Seafloor depth:           -952.999725
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.512465 meters
#   Minimum depth: 949.360321 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.478175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.360321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368017;
longitude = -121.517794;
duration = 410;
initialDepth = 898.180834;
finalDepth = 899.360321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.425734
#   Actual altitude:          52.425734
#   Commanded vehicle depth:  899.360321 
#   Seafloor depth:           -950.303849
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.512681 meters
#   Minimum depth: 948.180834 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.026530 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.180834 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367211;
longitude = -121.518345;
duration = 410;
initialDepth = 896.931846;
finalDepth = 898.180834;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.943528
#   Actual altitude:          50.943528
#   Commanded vehicle depth:  898.180834 
#   Seafloor depth:           -948.767757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.512897 meters
#   Minimum depth: 946.931846 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.505604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.931846 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366404;
longitude = -121.518896;
duration = 410;
initialDepth = 894.404932;
finalDepth = 896.931846;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.039849
#   Actual altitude:          51.039849
#   Commanded vehicle depth:  896.931846 
#   Seafloor depth:           -947.971695
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.513114 meters
#   Minimum depth: 944.404932 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.432142 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.404932 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365598;
longitude = -121.519447;
duration = 410;
initialDepth = 893.096217;
finalDepth = 894.404932;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9530239999999
#   Actual altitude:          51.9530239999999
#   Commanded vehicle depth:  894.404932 
#   Seafloor depth:           -946.357956
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.513330 meters
#   Minimum depth: 943.096217 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.932045 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.096217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364792;
longitude = -121.519998;
duration = 410;
initialDepth = 890.789860;
finalDepth = 893.096217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9530239999999
#   Actual altitude:          51.9530239999999
#   Commanded vehicle depth:  893.096217 
#   Seafloor depth:           -944.258857
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.513546 meters
#   Minimum depth: 940.789860 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.821675 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.789860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363985;
longitude = -121.520549;
duration = 410;
initialDepth = 889.089817;
finalDepth = 890.789860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.158222
#   Actual altitude:          52.158222
#   Commanded vehicle depth:  890.78986 
#   Seafloor depth:           -942.948082
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.513762 meters
#   Minimum depth: 939.089817 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.570355 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.089817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363179;
longitude = -121.521100;
duration = 410;
initialDepth = 887.990189;
finalDepth = 889.089817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.158222
#   Actual altitude:          52.158222
#   Commanded vehicle depth:  889.089817 
#   Seafloor depth:           -940.655133
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.513979 meters
#   Minimum depth: 937.990189 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.716663 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.990189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362372;
longitude = -121.521651;
duration = 410;
initialDepth = 884.986979;
finalDepth = 887.990189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5653159999999
#   Actual altitude:          51.5653159999999
#   Commanded vehicle depth:  887.990189 
#   Seafloor depth:           -938.970406
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.514195 meters
#   Minimum depth: 934.986979 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.716663 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.986979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361566;
longitude = -121.522202;
duration = 410;
initialDepth = 879.227575;
finalDepth = 884.986979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7114369999999
#   Actual altitude:          54.7114369999999
#   Commanded vehicle depth:  884.986979 
#   Seafloor depth:           -939.698416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.514411 meters
#   Minimum depth: 929.227575 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.707327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.227575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360760;
longitude = -121.522753;
duration = 410;
initialDepth = 879.227575;
finalDepth = 879.227575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.240629
#   Actual altitude:          55.240629
#   Commanded vehicle depth:  879.227575 
#   Seafloor depth:           -934.468204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.514627 meters
#   Minimum depth: 929.227575 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.239479 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.227575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359953;
longitude = -121.523304;
duration = 410;
initialDepth = 881.543918;
finalDepth = 879.227575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.240629
#   Actual altitude:          55.240629
#   Commanded vehicle depth:  879.227575 
#   Seafloor depth:           -929.437460
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 102.514843 meters
#   Minimum depth: 931.543918 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.545887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.543918 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359147;
longitude = -121.523855;
duration = 410;
initialDepth = 878.247763;
finalDepth = 881.543918;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.543306
#   Actual altitude:          54.543306
#   Commanded vehicle depth:  881.543918 
#   Seafloor depth:           -936.087224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 104.812530 meters
#   Minimum depth: 928.247763 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.545887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.247763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358340;
longitude = -121.524406;
duration = 419;
initialDepth = 878.247763;
finalDepth = 878.247763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.543306
#   Actual altitude:          54.543306
#   Commanded vehicle depth:  878.247763 
#   Seafloor depth:           -931.565334
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 105.077933 meters
#   Minimum depth: 928.247763 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.923538 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.247763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357516;
longitude = -121.524970;
duration = 420;
initialDepth = 883.619132;
finalDepth = 878.247763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.833262
#   Actual altitude:          55.833262
#   Commanded vehicle depth:  878.247763 
#   Seafloor depth:           -934.081025
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 38
#   Segment length 100.337895 meters
#   Minimum depth: 933.619132 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.923538 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.619132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356689;
longitude = -121.525535;
duration = 401;
initialDepth = 883.619132;
finalDepth = 883.619132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.833262
#   Actual altitude:          55.833262
#   Commanded vehicle depth:  883.619132 
#   Seafloor depth:           -933.962927
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 150.026432 meters
#   Minimum depth: 933.619132 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.214711 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.619132 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355900;
longitude = -121.526074;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 885.648056;
finalDepth = 883.619132;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.375848
#   Actual altitude:          50.375848
#   Commanded vehicle depth:  883.619132 
#   Seafloor depth:           -933.994980
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 36
#   Segment length 168.247321 meters
#   Minimum depth: 935.648056 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.243840 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.648056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356560;
longitude = -121.527515;
duration = 672;
# abortOnTimeout    = True; 
initialDepth = 886.350595;
finalDepth = 885.648056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.375848
#   Actual altitude:          50.375848
#   Commanded vehicle depth:  885.648056 
#   Seafloor depth:           -935.648056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.514908 meters
#   Minimum depth: 936.350595 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.338016 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.350595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357883;
longitude = -121.526611;
duration = 410;
initialDepth = 887.655901;
finalDepth = 886.350595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.387124
#   Actual altitude:          50.387124
#   Commanded vehicle depth:  886.350595 
#   Seafloor depth:           -936.737719
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.514692 meters
#   Minimum depth: 937.655901 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.185737 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.655901 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358690;
longitude = -121.526060;
duration = 410;
initialDepth = 882.862155;
finalDepth = 887.655901;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.387124
#   Actual altitude:          50.387124
#   Commanded vehicle depth:  887.655901 
#   Seafloor depth:           -937.655901
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.514475 meters
#   Minimum depth: 932.862155 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.291778 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.862155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359496;
longitude = -121.525509;
duration = 410;
initialDepth = 882.862155;
finalDepth = 882.862155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.626622
#   Actual altitude:          56.626622
#   Commanded vehicle depth:  882.862155 
#   Seafloor depth:           -939.488777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.514259 meters
#   Minimum depth: 932.862155 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.291778 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.862155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360303;
longitude = -121.524957;
duration = 410;
initialDepth = 884.350077;
finalDepth = 882.862155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.173223
#   Actual altitude:          59.173223
#   Commanded vehicle depth:  882.862155 
#   Seafloor depth:           -942.035378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 103.618613 meters
#   Minimum depth: 934.350077 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.091884 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.350077 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361109;
longitude = -121.524406;
duration = 414;
initialDepth = 886.376494;
finalDepth = 884.350077;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.173223
#   Actual altitude:          59.173223
#   Commanded vehicle depth:  884.350077 
#   Seafloor depth:           -939.999541
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 101.409256 meters
#   Minimum depth: 936.376494 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.494510 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.376494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361924;
longitude = -121.523849;
duration = 405;
initialDepth = 887.958257;
finalDepth = 886.376494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.649464
#   Actual altitude:          55.649464
#   Commanded vehicle depth:  886.376494 
#   Seafloor depth:           -937.142330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.513610 meters
#   Minimum depth: 937.958257 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.946566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.958257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362722;
longitude = -121.523304;
duration = 410;
initialDepth = 891.563739;
finalDepth = 887.958257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.234091
#   Actual altitude:          51.234091
#   Commanded vehicle depth:  887.958257 
#   Seafloor depth:           -939.192348
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.513394 meters
#   Minimum depth: 941.563739 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.316573 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.563739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363528;
longitude = -121.522753;
duration = 410;
initialDepth = 892.956758;
finalDepth = 891.563739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.234091
#   Actual altitude:          51.234091
#   Commanded vehicle depth:  891.563739 
#   Seafloor depth:           -942.696020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.513178 meters
#   Minimum depth: 942.956758 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.301750 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.956758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364335;
longitude = -121.522202;
duration = 410;
initialDepth = 895.886848;
finalDepth = 892.956758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9158179999999
#   Actual altitude:          52.9158179999999
#   Commanded vehicle depth:  892.956758 
#   Seafloor depth:           -945.872576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.512962 meters
#   Minimum depth: 945.886848 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.633130 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.886848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365141;
longitude = -121.521651;
duration = 410;
initialDepth = 896.965344;
finalDepth = 895.886848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9158179999999
#   Actual altitude:          52.9158179999999
#   Commanded vehicle depth:  895.886848 
#   Seafloor depth:           -946.676456
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.512745 meters
#   Minimum depth: 946.965344 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.719063 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.965344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365948;
longitude = -121.521100;
duration = 410;
initialDepth = 898.961039;
finalDepth = 896.965344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7762610000001
#   Actual altitude:          51.7762610000001
#   Commanded vehicle depth:  896.965344 
#   Seafloor depth:           -948.741605
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.512529 meters
#   Minimum depth: 948.961039 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.140132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.961039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366754;
longitude = -121.520549;
duration = 410;
initialDepth = 900.620263;
finalDepth = 898.961039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7762610000001
#   Actual altitude:          51.7762610000001
#   Commanded vehicle depth:  898.961039 
#   Seafloor depth:           -950.058179
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.512313 meters
#   Minimum depth: 950.620263 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.580938 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.620263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367560;
longitude = -121.519998;
duration = 410;
initialDepth = 901.894903;
finalDepth = 900.620263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.09714
#   Actual altitude:          51.09714
#   Commanded vehicle depth:  900.620263 
#   Seafloor depth:           -951.448381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.512097 meters
#   Minimum depth: 951.894903 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.175760 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.894903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368367;
longitude = -121.519447;
duration = 410;
initialDepth = 903.180177;
finalDepth = 901.894903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.88849
#   Actual altitude:          51.88849
#   Commanded vehicle depth:  901.894903 
#   Seafloor depth:           -953.783393
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.511880 meters
#   Minimum depth: 953.180177 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.175760 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.180177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369173;
longitude = -121.518896;
duration = 410;
initialDepth = 903.180177;
finalDepth = 903.180177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.88849
#   Actual altitude:          51.88849
#   Commanded vehicle depth:  903.180177 
#   Seafloor depth:           -953.471558
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.511664 meters
#   Minimum depth: 953.180177 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.147930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.180177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369980;
longitude = -121.518345;
duration = 410;
initialDepth = 903.490658;
finalDepth = 903.180177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.844161
#   Actual altitude:          50.844161
#   Commanded vehicle depth:  903.180177 
#   Seafloor depth:           -954.024338
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.511448 meters
#   Minimum depth: 953.490658 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.321389 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.490658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370786;
longitude = -121.517794;
duration = 410;
initialDepth = 903.665894;
finalDepth = 903.490658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.844161
#   Actual altitude:          50.844161
#   Commanded vehicle depth:  903.490658 
#   Seafloor depth:           -953.518336
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.511232 meters
#   Minimum depth: 953.665894 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.562455 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.665894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371592;
longitude = -121.517243;
duration = 410;
initialDepth = 904.258595;
finalDepth = 903.665894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.670807
#   Actual altitude:          50.670807
#   Commanded vehicle depth:  903.665894 
#   Seafloor depth:           -954.336701
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 104.466633 meters
#   Minimum depth: 954.258595 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.564477 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.258595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372399;
longitude = -121.516692;
duration = 417;
initialDepth = 903.487334;
finalDepth = 904.258595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.670807
#   Actual altitude:          50.670807
#   Commanded vehicle depth:  904.258595 
#   Seafloor depth:           -954.564477
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 100.555182 meters
#   Minimum depth: 953.487334 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.468958 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.487334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373221;
longitude = -121.516130;
duration = 402;
initialDepth = 903.487334;
finalDepth = 903.487334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9705259999999
#   Actual altitude:          50.9705259999999
#   Commanded vehicle depth:  903.487334 
#   Seafloor depth:           -954.457860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.510583 meters
#   Minimum depth: 953.487334 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.606896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.487334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374012;
longitude = -121.515590;
duration = 410;
initialDepth = 901.521199;
finalDepth = 903.487334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9705259999999
#   Actual altitude:          50.9705259999999
#   Commanded vehicle depth:  903.487334 
#   Seafloor depth:           -953.996894
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.510367 meters
#   Minimum depth: 951.521199 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.606896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.521199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374818;
longitude = -121.515039;
duration = 410;
initialDepth = 899.632307;
finalDepth = 901.521199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.575052
#   Actual altitude:          52.575052
#   Commanded vehicle depth:  901.521199 
#   Seafloor depth:           -954.096251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.510150 meters
#   Minimum depth: 949.632307 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.007870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.632307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375625;
longitude = -121.514488;
duration = 410;
initialDepth = 898.817708;
finalDepth = 899.632307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.575052
#   Actual altitude:          52.575052
#   Commanded vehicle depth:  899.632307 
#   Seafloor depth:           -951.606355
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.509935 meters
#   Minimum depth: 948.817708 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.613836 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.817708 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376431;
longitude = -121.513937;
duration = 410;
initialDepth = 895.526784;
finalDepth = 898.817708;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.974048
#   Actual altitude:          51.974048
#   Commanded vehicle depth:  898.817708 
#   Seafloor depth:           -950.064848
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.509718 meters
#   Minimum depth: 945.526784 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.366452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.526784 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377237;
longitude = -121.513386;
duration = 410;
initialDepth = 893.458316;
finalDepth = 895.526784;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.465929
#   Actual altitude:          52.465929
#   Commanded vehicle depth:  895.526784 
#   Seafloor depth:           -947.992713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.509502 meters
#   Minimum depth: 943.458316 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.366536 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.458316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378044;
longitude = -121.512834;
duration = 410;
initialDepth = 891.305076;
finalDepth = 893.458316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.465929
#   Actual altitude:          52.465929
#   Commanded vehicle depth:  893.458316 
#   Seafloor depth:           -944.741787
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.509286 meters
#   Minimum depth: 941.305076 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.091779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.305076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378850;
longitude = -121.512283;
duration = 410;
initialDepth = 887.933197;
finalDepth = 891.305076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.695467
#   Actual altitude:          51.695467
#   Commanded vehicle depth:  891.305076 
#   Seafloor depth:           -943.000543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.509070 meters
#   Minimum depth: 937.933197 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.331012 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.933197 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379657;
longitude = -121.511732;
duration = 410;
initialDepth = 885.274611;
finalDepth = 887.933197;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4163120000001
#   Actual altitude:          52.4163120000001
#   Commanded vehicle depth:  887.933197 
#   Seafloor depth:           -940.349509
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.508854 meters
#   Minimum depth: 935.274611 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.021667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.274611 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380463;
longitude = -121.511181;
duration = 410;
initialDepth = 882.901738;
finalDepth = 885.274611;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4163120000001
#   Actual altitude:          52.4163120000001
#   Commanded vehicle depth:  885.274611 
#   Seafloor depth:           -937.552237
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.508637 meters
#   Minimum depth: 932.901738 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.031391 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.901738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381269;
longitude = -121.510630;
duration = 410;
initialDepth = 882.138231;
finalDepth = 882.901738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2776259999999
#   Actual altitude:          52.2776259999999
#   Commanded vehicle depth:  882.901738 
#   Seafloor depth:           -935.116283
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.508421 meters
#   Minimum depth: 932.138231 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.610868 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.138231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382076;
longitude = -121.510079;
duration = 410;
initialDepth = 882.138231;
finalDepth = 882.138231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2145449999999
#   Actual altitude:          52.2145449999999
#   Commanded vehicle depth:  882.138231 
#   Seafloor depth:           -932.896005
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 102.752355 meters
#   Minimum depth: 932.138231 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.346849 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.138231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382882;
longitude = -121.509528;
duration = 411;
initialDepth = 880.712325;
finalDepth = 882.138231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7577739999999
#   Actual altitude:          50.7577739999999
#   Commanded vehicle depth:  882.138231 
#   Seafloor depth:           -932.276243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 105.070453 meters
#   Minimum depth: 930.712325 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.346849 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.712325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383691;
longitude = -121.508976;
duration = 420;
initialDepth = 880.397014;
finalDepth = 880.712325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.187905
#   Actual altitude:          53.187905
#   Commanded vehicle depth:  880.712325 
#   Seafloor depth:           -933.900230
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 105.070226 meters
#   Minimum depth: 930.397014 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.942674 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.397014 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384517;
longitude = -121.508411;
duration = 420;
initialDepth = 879.405655;
finalDepth = 880.397014;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.187905
#   Actual altitude:          53.187905
#   Commanded vehicle depth:  880.397014 
#   Seafloor depth:           -930.654618
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 105.069998 meters
#   Minimum depth: 929.405655 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.385307 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.405655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385344;
longitude = -121.507846;
duration = 420;
initialDepth = 876.354350;
finalDepth = 879.405655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.979652
#   Actual altitude:          51.979652
#   Commanded vehicle depth:  879.405655 
#   Seafloor depth:           -931.385307
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 105.069772 meters
#   Minimum depth: 926.354350 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.865415 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.354350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386170;
longitude = -121.507281;
duration = 420;
initialDepth = 875.186424;
finalDepth = 876.354350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7878880000001
#   Actual altitude:          52.7878880000001
#   Commanded vehicle depth:  876.35435 
#   Seafloor depth:           -929.142238
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 105.069544 meters
#   Minimum depth: 925.186424 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.704367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.186424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386997;
longitude = -121.506717;
duration = 420;
initialDepth = 873.746085;
finalDepth = 875.186424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7878880000001
#   Actual altitude:          52.7878880000001
#   Commanded vehicle depth:  875.186424 
#   Seafloor depth:           -926.286674
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 105.069317 meters
#   Minimum depth: 923.746085 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.583547 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.746085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387823;
longitude = -121.506152;
duration = 420;
initialDepth = 872.404175;
finalDepth = 873.746085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.313744
#   Actual altitude:          51.313744
#   Commanded vehicle depth:  873.746085 
#   Seafloor depth:           -925.059829
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 36
#   Segment length 123.689529 meters
#   Minimum depth: 922.404175 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.432995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.404175 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388650;
longitude = -121.505587;
duration = 494;
initialDepth = 872.727524;
finalDepth = 872.404175;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.313744
#   Actual altitude:          51.313744
#   Commanded vehicle depth:  872.404175 
#   Seafloor depth:           -923.378919
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 35
#   Segment length 150.034205 meters
#   Minimum depth: 922.727524 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.178754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.727524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389623;
longitude = -121.504922;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 872.961163;
finalDepth = 872.727524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.974744
#   Actual altitude:          50.974744
#   Commanded vehicle depth:  872.727524 
#   Seafloor depth:           -922.727524
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 76.268045 meters
#   Minimum depth: 922.961163 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.834452 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.961163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390284;
longitude = -121.506363;
duration = 305;
# abortOnTimeout    = True; 
initialDepth = 875.109478;
finalDepth = 872.961163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7583649999999
#   Actual altitude:          52.7583649999999
#   Commanded vehicle depth:  872.961163 
#   Seafloor depth:           -925.719528
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.512355 meters
#   Minimum depth: 925.109478 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.365664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.109478 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389684;
longitude = -121.506773;
duration = 410;
initialDepth = 875.587294;
finalDepth = 875.109478;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.2818030000001
#   Actual altitude:          55.2818030000001
#   Commanded vehicle depth:  875.109478 
#   Seafloor depth:           -930.391281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.512572 meters
#   Minimum depth: 925.587294 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.365664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.587294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388878;
longitude = -121.507324;
duration = 410;
initialDepth = 875.587294;
finalDepth = 875.587294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.2818030000001
#   Actual altitude:          55.2818030000001
#   Commanded vehicle depth:  875.587294 
#   Seafloor depth:           -926.690573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.512788 meters
#   Minimum depth: 925.587294 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.716977 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.587294 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388071;
longitude = -121.507875;
duration = 410;
initialDepth = 877.903022;
finalDepth = 875.587294;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5763929999999
#   Actual altitude:          51.5763929999999
#   Commanded vehicle depth:  875.587294 
#   Seafloor depth:           -927.163687
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 104.082816 meters
#   Minimum depth: 927.903022 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.272536 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.903022 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387265;
longitude = -121.508426;
duration = 416;
initialDepth = 880.431396;
finalDepth = 877.903022;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.836587
#   Actual altitude:          51.836587
#   Commanded vehicle depth:  877.903022 
#   Seafloor depth:           -929.739609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 100.943408 meters
#   Minimum depth: 930.431396 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.283803 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.431396 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386446;
longitude = -121.508986;
duration = 403;
initialDepth = 882.629960;
finalDepth = 880.431396;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.934647
#   Actual altitude:          53.934647
#   Commanded vehicle depth:  880.431396 
#   Seafloor depth:           -934.366043
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.513436 meters
#   Minimum depth: 932.629960 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.283803 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.629960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385652;
longitude = -121.509528;
duration = 410;
initialDepth = 882.629960;
finalDepth = 882.629960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.934647
#   Actual altitude:          53.934647
#   Commanded vehicle depth:  882.62996 
#   Seafloor depth:           -934.122911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.513653 meters
#   Minimum depth: 932.629960 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.425300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.629960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384845;
longitude = -121.510079;
duration = 410;
initialDepth = 883.102153;
finalDepth = 882.629960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.445499
#   Actual altitude:          52.445499
#   Commanded vehicle depth:  882.62996 
#   Seafloor depth:           -935.075459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.513869 meters
#   Minimum depth: 933.102153 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.425300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.102153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384039;
longitude = -121.510630;
duration = 410;
initialDepth = 883.102153;
finalDepth = 883.102153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.445499
#   Actual altitude:          52.445499
#   Commanded vehicle depth:  883.102153 
#   Seafloor depth:           -933.798892
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.514085 meters
#   Minimum depth: 933.102153 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.662574 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.102153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383232;
longitude = -121.511181;
duration = 410;
initialDepth = 884.523891;
finalDepth = 883.102153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8254469999999
#   Actual altitude:          50.8254469999999
#   Commanded vehicle depth:  883.102153 
#   Seafloor depth:           -933.927600
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.514301 meters
#   Minimum depth: 934.523891 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.873782 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.523891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382426;
longitude = -121.511732;
duration = 410;
initialDepth = 887.753291;
finalDepth = 884.523891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8600839999999
#   Actual altitude:          52.8600839999999
#   Commanded vehicle depth:  884.523891 
#   Seafloor depth:           -937.383975
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.514518 meters
#   Minimum depth: 937.753291 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.904985 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.753291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381619;
longitude = -121.512283;
duration = 410;
initialDepth = 890.334605;
finalDepth = 887.753291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8600839999999
#   Actual altitude:          52.8600839999999
#   Commanded vehicle depth:  887.753291 
#   Seafloor depth:           -940.146622
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.514733 meters
#   Minimum depth: 940.334605 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.931609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.334605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380813;
longitude = -121.512834;
duration = 410;
initialDepth = 893.247177;
finalDepth = 890.334605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.393331
#   Actual altitude:          52.393331
#   Commanded vehicle depth:  890.334605 
#   Seafloor depth:           -942.572192
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.514950 meters
#   Minimum depth: 943.247177 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.831590 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.247177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380006;
longitude = -121.513386;
duration = 410;
initialDepth = 894.381461;
finalDepth = 893.247177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.237587
#   Actual altitude:          52.237587
#   Commanded vehicle depth:  893.247177 
#   Seafloor depth:           -944.170170
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.515166 meters
#   Minimum depth: 944.381461 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.597111 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.381461 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379200;
longitude = -121.513937;
duration = 410;
initialDepth = 897.570059;
finalDepth = 894.381461;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.937179
#   Actual altitude:          51.937179
#   Commanded vehicle depth:  894.381461 
#   Seafloor depth:           -946.318640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.515382 meters
#   Minimum depth: 947.570059 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.801390 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.570059 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378393;
longitude = -121.514488;
duration = 410;
initialDepth = 902.459618;
finalDepth = 897.570059;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5006989999999
#   Actual altitude:          53.5006989999999
#   Commanded vehicle depth:  897.570059 
#   Seafloor depth:           -951.070758
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.515599 meters
#   Minimum depth: 952.459618 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.364877 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.459618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377587;
longitude = -121.515039;
duration = 410;
initialDepth = 905.268431;
finalDepth = 902.459618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.76395
#   Actual altitude:          55.76395
#   Commanded vehicle depth:  902.459618 
#   Seafloor depth:           -958.223568
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.515815 meters
#   Minimum depth: 955.268431 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.364877 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.268431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376780;
longitude = -121.515590;
duration = 410;
initialDepth = 905.268431;
finalDepth = 905.268431;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.119687
#   Actual altitude:          56.119687
#   Commanded vehicle depth:  905.268431 
#   Seafloor depth:           -961.388118
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 104.830018 meters
#   Minimum depth: 955.268431 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.995280 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.268431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375974;
longitude = -121.516141;
duration = 419;
initialDepth = 907.162387;
finalDepth = 905.268431;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.119687
#   Actual altitude:          56.119687
#   Commanded vehicle depth:  905.268431 
#   Seafloor depth:           -955.287071
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 100.202260 meters
#   Minimum depth: 957.162387 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.070061 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.162387 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375149;
longitude = -121.516704;
duration = 400;
initialDepth = 909.055041;
finalDepth = 907.162387;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.907674
#   Actual altitude:          52.907674
#   Commanded vehicle depth:  907.162387 
#   Seafloor depth:           -960.070061
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.516463 meters
#   Minimum depth: 959.055041 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.209624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.055041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374361;
longitude = -121.517243;
duration = 410;
initialDepth = 906.732825;
finalDepth = 909.055041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.907674
#   Actual altitude:          52.907674
#   Commanded vehicle depth:  909.055041 
#   Seafloor depth:           -959.168725
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.516680 meters
#   Minimum depth: 956.732825 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.209624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.732825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373555;
longitude = -121.517794;
duration = 410;
initialDepth = 905.732323;
finalDepth = 906.732825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0895849999999
#   Actual altitude:          52.0895849999999
#   Commanded vehicle depth:  906.732825 
#   Seafloor depth:           -958.822410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.516895 meters
#   Minimum depth: 955.732323 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.615650 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.732323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372748;
longitude = -121.518345;
duration = 410;
initialDepth = 905.353050;
finalDepth = 905.732323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0895849999999
#   Actual altitude:          52.0895849999999
#   Commanded vehicle depth:  905.732323 
#   Seafloor depth:           -956.553860
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.517113 meters
#   Minimum depth: 955.353050 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.454610 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.353050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371942;
longitude = -121.518896;
duration = 410;
initialDepth = 905.301879;
finalDepth = 905.353050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.821537
#   Actual altitude:          50.821537
#   Commanded vehicle depth:  905.35305 
#   Seafloor depth:           -955.676848
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.517328 meters
#   Minimum depth: 955.301879 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.558658 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.301879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371135;
longitude = -121.519447;
duration = 410;
initialDepth = 905.251692;
finalDepth = 905.301879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3237979999999
#   Actual altitude:          50.3237979999999
#   Commanded vehicle depth:  905.301879 
#   Seafloor depth:           -955.558658
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.517544 meters
#   Minimum depth: 955.251692 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.591374 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.251692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370329;
longitude = -121.519998;
duration = 410;
initialDepth = 905.251692;
finalDepth = 905.251692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2567790000001
#   Actual altitude:          50.2567790000001
#   Commanded vehicle depth:  905.251692 
#   Seafloor depth:           -955.311639
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.517761 meters
#   Minimum depth: 955.251692 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.025941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.251692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369522;
longitude = -121.520549;
duration = 410;
initialDepth = 904.226728;
finalDepth = 905.251692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6459239999999
#   Actual altitude:          50.6459239999999
#   Commanded vehicle depth:  905.251692 
#   Seafloor depth:           -955.897616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.517977 meters
#   Minimum depth: 954.226728 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.025941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.226728 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368716;
longitude = -121.521100;
duration = 410;
initialDepth = 902.709967;
finalDepth = 904.226728;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.229498
#   Actual altitude:          51.229498
#   Commanded vehicle depth:  904.226728 
#   Seafloor depth:           -955.456226
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.518194 meters
#   Minimum depth: 952.709967 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.674556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.709967 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367909;
longitude = -121.521651;
duration = 410;
initialDepth = 901.642479;
finalDepth = 902.709967;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.756741
#   Actual altitude:          51.756741
#   Commanded vehicle depth:  902.709967 
#   Seafloor depth:           -954.466708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.518409 meters
#   Minimum depth: 951.642479 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.238618 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.642479 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367103;
longitude = -121.522202;
duration = 410;
initialDepth = 900.029711;
finalDepth = 901.642479;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.756741
#   Actual altitude:          51.756741
#   Commanded vehicle depth:  901.642479 
#   Seafloor depth:           -952.761415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 102.518626 meters
#   Minimum depth: 950.029711 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.281561 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.029711 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366296;
longitude = -121.522753;
duration = 410;
initialDepth = 896.656869;
finalDepth = 900.029711;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4221199999999
#   Actual altitude:          51.4221199999999
#   Commanded vehicle depth:  900.029711 
#   Seafloor depth:           -951.451831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 103.022130 meters
#   Minimum depth: 946.656869 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.493566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.656869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365490;
longitude = -121.523304;
duration = 412;
initialDepth = 891.205533;
finalDepth = 896.656869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.288986
#   Actual altitude:          53.288986
#   Commanded vehicle depth:  896.656869 
#   Seafloor depth:           -949.945855
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.073977 meters
#   Minimum depth: 941.205533 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.095949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.205533 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364679;
longitude = -121.523858;
duration = 420;
initialDepth = 891.084990;
finalDepth = 891.205533;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.5455750000001
#   Actual altitude:          55.5455750000001
#   Commanded vehicle depth:  891.205533 
#   Seafloor depth:           -946.751108
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.074205 meters
#   Minimum depth: 941.084990 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.401538 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.084990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363853;
longitude = -121.524423;
duration = 420;
initialDepth = 888.436261;
finalDepth = 891.084990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.5455750000001
#   Actual altitude:          55.5455750000001
#   Commanded vehicle depth:  891.08499 
#   Seafloor depth:           -941.084990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.074431 meters
#   Minimum depth: 938.436261 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.343100 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.436261 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363026;
longitude = -121.524988;
duration = 420;
initialDepth = 884.515231;
finalDepth = 888.436261;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.810474
#   Actual altitude:          53.810474
#   Commanded vehicle depth:  888.436261 
#   Seafloor depth:           -942.246735
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.074658 meters
#   Minimum depth: 934.515231 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.343100 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.515231 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362200;
longitude = -121.525552;
duration = 420;
initialDepth = 882.078579;
finalDepth = 884.515231;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.810474
#   Actual altitude:          53.810474
#   Commanded vehicle depth:  884.515231 
#   Seafloor depth:           -937.616097
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.074886 meters
#   Minimum depth: 932.078579 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.298438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.078579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361373;
longitude = -121.526117;
duration = 420;
initialDepth = 882.078579;
finalDepth = 882.078579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.310141
#   Actual altitude:          54.310141
#   Commanded vehicle depth:  882.078579 
#   Seafloor depth:           -936.388720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.075113 meters
#   Minimum depth: 932.078579 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.813261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.078579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360547;
longitude = -121.526682;
duration = 420;
initialDepth = 890.715269;
finalDepth = 882.078579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.862878
#   Actual altitude:          56.862878
#   Commanded vehicle depth:  882.078579 
#   Seafloor depth:           -938.941457
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.075340 meters
#   Minimum depth: 940.715269 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.813261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.715269 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359720;
longitude = -121.527247;
duration = 420;
initialDepth = 889.777097;
finalDepth = 890.715269;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.862878
#   Actual altitude:          56.862878
#   Commanded vehicle depth:  890.715269 
#   Seafloor depth:           -940.737745
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 105.075568 meters
#   Minimum depth: 939.777097 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.443927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.777097 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358893;
longitude = -121.527812;
duration = 420;
initialDepth = 887.918040;
finalDepth = 889.777097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1123689999999
#   Actual altitude:          51.1123689999999
#   Commanded vehicle depth:  889.777097 
#   Seafloor depth:           -940.889466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 34
#   Segment length 107.659808 meters
#   Minimum depth: 937.918040 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.550196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.918040 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358067;
longitude = -121.528376;
duration = 430;
initialDepth = 887.596848;
finalDepth = 887.918040;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.646215
#   Actual altitude:          51.646215
#   Commanded vehicle depth:  887.91804 
#   Seafloor depth:           -939.564255
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 150.078612 meters
#   Minimum depth: 937.596848 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.762776 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.596848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357220;
longitude = -121.528955;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 889.193052;
finalDepth = 887.596848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.646215
#   Actual altitude:          51.646215
#   Commanded vehicle depth:  887.596848 
#   Seafloor depth:           -937.596848
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 89.132781 meters
#   Minimum depth: 939.193052 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.518755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.193052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357881;
longitude = -121.530396;
duration = 356;
# abortOnTimeout    = True; 
initialDepth = 890.296036;
finalDepth = 889.193052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.102984
#   Actual altitude:          51.102984
#   Commanded vehicle depth:  889.193052 
#   Seafloor depth:           -940.296036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.518060 meters
#   Minimum depth: 940.296036 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.602476 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.296036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358582;
longitude = -121.529917;
duration = 410;
initialDepth = 892.647927;
finalDepth = 890.296036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.56667
#   Actual altitude:          51.56667
#   Commanded vehicle depth:  890.296036 
#   Seafloor depth:           -941.862706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.517843 meters
#   Minimum depth: 942.647927 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.250408 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.647927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359389;
longitude = -121.529366;
duration = 410;
initialDepth = 892.797371;
finalDepth = 892.647927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.56667
#   Actual altitude:          51.56667
#   Commanded vehicle depth:  892.647927 
#   Seafloor depth:           -942.884708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.517626 meters
#   Minimum depth: 942.797371 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.484889 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.797371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360195;
longitude = -121.528815;
duration = 410;
initialDepth = 894.466081;
finalDepth = 892.797371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.964168
#   Actual altitude:          51.964168
#   Commanded vehicle depth:  892.797371 
#   Seafloor depth:           -944.761539
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.517411 meters
#   Minimum depth: 944.466081 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.326754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.466081 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361001;
longitude = -121.528264;
duration = 410;
initialDepth = 885.499886;
finalDepth = 894.466081;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.964168
#   Actual altitude:          51.964168
#   Commanded vehicle depth:  894.466081 
#   Seafloor depth:           -945.983244
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.517194 meters
#   Minimum depth: 935.499886 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.326754 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.499886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361808;
longitude = -121.527713;
duration = 410;
initialDepth = 885.499886;
finalDepth = 885.499886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.726898
#   Actual altitude:          54.726898
#   Commanded vehicle depth:  885.499886 
#   Seafloor depth:           -940.226784
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.516977 meters
#   Minimum depth: 935.499886 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.931276 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.499886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362614;
longitude = -121.527162;
duration = 410;
initialDepth = 891.485036;
finalDepth = 885.499886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.609054
#   Actual altitude:          57.609054
#   Commanded vehicle depth:  885.499886 
#   Seafloor depth:           -943.108940
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.516762 meters
#   Minimum depth: 941.485036 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.358422 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.485036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363421;
longitude = -121.526611;
duration = 410;
initialDepth = 891.485036;
finalDepth = 891.485036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.609054
#   Actual altitude:          57.609054
#   Commanded vehicle depth:  891.485036 
#   Seafloor depth:           -943.328684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.516545 meters
#   Minimum depth: 941.485036 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.684053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.485036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364227;
longitude = -121.526060;
duration = 410;
initialDepth = 895.208468;
finalDepth = 891.485036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.228251
#   Actual altitude:          54.228251
#   Commanded vehicle depth:  891.485036 
#   Seafloor depth:           -945.713287
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.516329 meters
#   Minimum depth: 945.208468 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.713461 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.208468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365034;
longitude = -121.525509;
duration = 410;
initialDepth = 900.996856;
finalDepth = 895.208468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.228251
#   Actual altitude:          54.228251
#   Commanded vehicle depth:  895.208468 
#   Seafloor depth:           -947.744133
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.516112 meters
#   Minimum depth: 950.996856 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.872537 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.996856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365840;
longitude = -121.524957;
duration = 410;
initialDepth = 902.785372;
finalDepth = 900.996856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.535665
#   Actual altitude:          52.535665
#   Commanded vehicle depth:  900.996856 
#   Seafloor depth:           -952.577843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.515897 meters
#   Minimum depth: 952.785372 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.796468 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.785372 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366647;
longitude = -121.524406;
duration = 410;
initialDepth = 904.874078;
finalDepth = 902.785372;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5809870000001
#   Actual altitude:          51.5809870000001
#   Commanded vehicle depth:  902.785372 
#   Seafloor depth:           -954.000856
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.736937 meters
#   Minimum depth: 954.874078 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.016831 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.874078 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367453;
longitude = -121.523855;
duration = 410;
initialDepth = 906.443919;
finalDepth = 904.874078;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2154839999999
#   Actual altitude:          51.2154839999999
#   Commanded vehicle depth:  904.874078 
#   Seafloor depth:           -955.867448
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.294207 meters
#   Minimum depth: 956.443919 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.324369 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.443919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368261;
longitude = -121.523303;
duration = 409;
initialDepth = 906.586626;
finalDepth = 906.443919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9933699999999
#   Actual altitude:          50.9933699999999
#   Commanded vehicle depth:  906.443919 
#   Seafloor depth:           -956.743909
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.515247 meters
#   Minimum depth: 956.586626 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.324369 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.586626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369066;
longitude = -121.522753;
duration = 410;
initialDepth = 906.586626;
finalDepth = 906.586626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.608298
#   Actual altitude:          50.608298
#   Commanded vehicle depth:  906.586626 
#   Seafloor depth:           -957.194924
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.515031 meters
#   Minimum depth: 956.586626 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.602594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.586626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369872;
longitude = -121.522202;
duration = 410;
initialDepth = 907.178856;
finalDepth = 906.586626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.722187
#   Actual altitude:          50.722187
#   Commanded vehicle depth:  906.586626 
#   Seafloor depth:           -957.308813
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.514815 meters
#   Minimum depth: 957.178856 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.602594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.178856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370679;
longitude = -121.521651;
duration = 410;
initialDepth = 907.178856;
finalDepth = 907.178856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.722187
#   Actual altitude:          50.722187
#   Commanded vehicle depth:  907.178856 
#   Seafloor depth:           -957.498697
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.514599 meters
#   Minimum depth: 957.178856 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.125134 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.178856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371485;
longitude = -121.521100;
duration = 410;
initialDepth = 907.510233;
finalDepth = 907.178856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3212130000001
#   Actual altitude:          50.3212130000001
#   Commanded vehicle depth:  907.178856 
#   Seafloor depth:           -957.500069
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.514383 meters
#   Minimum depth: 957.510233 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.021104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.510233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372292;
longitude = -121.520549;
duration = 410;
initialDepth = 908.351724;
finalDepth = 907.510233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6373630000001
#   Actual altitude:          50.6373630000001
#   Commanded vehicle depth:  907.510233 
#   Seafloor depth:           -958.147596
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.514166 meters
#   Minimum depth: 958.351724 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.285453 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.351724 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373098;
longitude = -121.519998;
duration = 410;
initialDepth = 909.209164;
finalDepth = 908.351724;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.808372
#   Actual altitude:          50.808372
#   Commanded vehicle depth:  908.351724 
#   Seafloor depth:           -959.160096
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.513950 meters
#   Minimum depth: 959.209164 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.427970 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.209164 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373905;
longitude = -121.519447;
duration = 410;
initialDepth = 909.426134;
finalDepth = 909.209164;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.808372
#   Actual altitude:          50.808372
#   Commanded vehicle depth:  909.209164 
#   Seafloor depth:           -959.289732
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.513734 meters
#   Minimum depth: 959.426134 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.386657 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.426134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374711;
longitude = -121.518896;
duration = 410;
initialDepth = 908.648072;
finalDepth = 909.426134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4230209999999
#   Actual altitude:          52.4230209999999
#   Commanded vehicle depth:  909.426134 
#   Seafloor depth:           -961.849155
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.513517 meters
#   Minimum depth: 958.648072 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.386657 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.648072 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375518;
longitude = -121.518345;
duration = 410;
initialDepth = 905.194440;
finalDepth = 908.648072;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.1911610000001
#   Actual altitude:          56.1911610000001
#   Commanded vehicle depth:  908.648072 
#   Seafloor depth:           -964.839233
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.513301 meters
#   Minimum depth: 955.194440 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.923231 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.194440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376324;
longitude = -121.517794;
duration = 410;
initialDepth = 905.046905;
finalDepth = 905.194440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.1911610000001
#   Actual altitude:          56.1911610000001
#   Commanded vehicle depth:  905.19444 
#   Seafloor depth:           -958.348110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.513085 meters
#   Minimum depth: 955.046905 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.589327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.046905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377130;
longitude = -121.517243;
duration = 410;
initialDepth = 901.809714;
finalDepth = 905.046905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.15367
#   Actual altitude:          53.15367
#   Commanded vehicle depth:  905.046905 
#   Seafloor depth:           -955.046905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.512869 meters
#   Minimum depth: 951.809714 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.862945 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.809714 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377937;
longitude = -121.516692;
duration = 410;
initialDepth = 898.124374;
finalDepth = 901.809714;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.439123
#   Actual altitude:          53.439123
#   Commanded vehicle depth:  901.809714 
#   Seafloor depth:           -955.248837
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 103.521436 meters
#   Minimum depth: 948.124374 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.841926 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.124374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378743;
longitude = -121.516141;
duration = 414;
initialDepth = 896.269705;
finalDepth = 898.124374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.653383
#   Actual altitude:          53.653383
#   Commanded vehicle depth:  898.124374 
#   Seafloor depth:           -951.777757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 101.503653 meters
#   Minimum depth: 946.269705 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.044838 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.269705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379558;
longitude = -121.515584;
duration = 406;
initialDepth = 896.269705;
finalDepth = 896.269705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.653383
#   Actual altitude:          53.653383
#   Commanded vehicle depth:  896.269705 
#   Seafloor depth:           -948.113522
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.512220 meters
#   Minimum depth: 946.269705 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.562880 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.269705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380356;
longitude = -121.515039;
duration = 410;
initialDepth = 897.939795;
finalDepth = 896.269705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8438169999999
#   Actual altitude:          51.8438169999999
#   Commanded vehicle depth:  896.269705 
#   Seafloor depth:           -946.801986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.512004 meters
#   Minimum depth: 947.939795 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.225293 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.939795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381163;
longitude = -121.514488;
duration = 410;
initialDepth = 891.900358;
finalDepth = 897.939795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.1397009999999
#   Actual altitude:          55.1397009999999
#   Commanded vehicle depth:  897.939795 
#   Seafloor depth:           -953.079496
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.511788 meters
#   Minimum depth: 941.900358 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.225293 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.900358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381969;
longitude = -121.513937;
duration = 410;
initialDepth = 888.575844;
finalDepth = 891.900358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.1397009999999
#   Actual altitude:          55.1397009999999
#   Commanded vehicle depth:  891.900358 
#   Seafloor depth:           -945.670008
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.511571 meters
#   Minimum depth: 938.575844 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.149934 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.575844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382776;
longitude = -121.513386;
duration = 410;
initialDepth = 885.702198;
finalDepth = 888.575844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.7696500000001
#   Actual altitude:          53.7696500000001
#   Commanded vehicle depth:  888.575844 
#   Seafloor depth:           -941.225373
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.511355 meters
#   Minimum depth: 935.702198 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.956524 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.702198 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383582;
longitude = -121.512834;
duration = 410;
initialDepth = 883.895736;
finalDepth = 885.702198;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.649529
#   Actual altitude:          52.649529
#   Commanded vehicle depth:  885.702198 
#   Seafloor depth:           -938.025407
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.511139 meters
#   Minimum depth: 933.895736 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.910237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.895736 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384388;
longitude = -121.512283;
duration = 410;
initialDepth = 883.694367;
finalDepth = 883.895736;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.415351
#   Actual altitude:          52.415351
#   Commanded vehicle depth:  883.895736 
#   Seafloor depth:           -936.311087
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.510923 meters
#   Minimum depth: 933.694367 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.729164 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.694367 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385195;
longitude = -121.511732;
duration = 410;
initialDepth = 881.605770;
finalDepth = 883.694367;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.415351
#   Actual altitude:          52.415351
#   Commanded vehicle depth:  883.694367 
#   Seafloor depth:           -933.877921
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.510707 meters
#   Minimum depth: 931.605770 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.900360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.605770 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386001;
longitude = -121.511181;
duration = 410;
initialDepth = 881.375084;
finalDepth = 881.605770;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.947845
#   Actual altitude:          51.947845
#   Commanded vehicle depth:  881.60577 
#   Seafloor depth:           -933.553615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.510490 meters
#   Minimum depth: 931.375084 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.164816 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.375084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386808;
longitude = -121.510630;
duration = 410;
initialDepth = 881.375084;
finalDepth = 881.375084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.947845
#   Actual altitude:          51.947845
#   Commanded vehicle depth:  881.375084 
#   Seafloor depth:           -931.477980
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.510274 meters
#   Minimum depth: 931.375084 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.397639 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.375084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387614;
longitude = -121.510079;
duration = 410;
initialDepth = 878.902807;
finalDepth = 881.375084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.438999
#   Actual altitude:          53.438999
#   Commanded vehicle depth:  881.375084 
#   Seafloor depth:           -934.814083
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.510058 meters
#   Minimum depth: 928.902807 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.397639 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.902807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388421;
longitude = -121.509528;
duration = 410;
initialDepth = 878.614017;
finalDepth = 878.902807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.438999
#   Actual altitude:          53.438999
#   Commanded vehicle depth:  878.902807 
#   Seafloor depth:           -931.733779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 102.509842 meters
#   Minimum depth: 928.614017 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.278295 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.614017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389227;
longitude = -121.508977;
duration = 410;
initialDepth = 876.507911;
finalDepth = 878.614017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.830972
#   Actual altitude:          52.830972
#   Commanded vehicle depth:  878.614017 
#   Seafloor depth:           -928.943103
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 32
#   Segment length 115.729579 meters
#   Minimum depth: 926.507911 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.141466 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.507911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390034;
longitude = -121.508426;
duration = 462;
initialDepth = 875.815826;
finalDepth = 876.507911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.3291409999999
#   Actual altitude:          52.3291409999999
#   Commanded vehicle depth:  876.507911 
#   Seafloor depth:           -928.837052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 150.032219 meters
#   Minimum depth: 925.815826 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.091924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.815826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390944;
longitude = -121.507804;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 877.342392;
finalDepth = 875.815826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.3291409999999
#   Actual altitude:          52.3291409999999
#   Commanded vehicle depth:  875.815826 
#   Seafloor depth:           -925.815826
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 30
#   Segment length 103.943856 meters
#   Minimum depth: 927.342392 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.812752 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.342392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391605;
longitude = -121.509245;
duration = 415;
# abortOnTimeout    = True; 
initialDepth = 879.192201;
finalDepth = 877.342392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8380129999999
#   Actual altitude:          50.8380129999999
#   Commanded vehicle depth:  877.342392 
#   Seafloor depth:           -928.180405
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.515398 meters
#   Minimum depth: 929.192201 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.890622 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.192201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390787;
longitude = -121.509804;
duration = 410;
initialDepth = 881.066157;
finalDepth = 879.192201;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4529230000001
#   Actual altitude:          55.4529230000001
#   Commanded vehicle depth:  879.192201 
#   Seafloor depth:           -934.645124
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.515614 meters
#   Minimum depth: 931.066157 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.890622 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.066157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389981;
longitude = -121.510355;
duration = 410;
initialDepth = 881.066157;
finalDepth = 881.066157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.4529230000001
#   Actual altitude:          55.4529230000001
#   Commanded vehicle depth:  881.066157 
#   Seafloor depth:           -933.267033
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.515831 meters
#   Minimum depth: 931.066157 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.975875 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.066157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389174;
longitude = -121.510906;
duration = 410;
initialDepth = 881.334829;
finalDepth = 881.066157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.200876
#   Actual altitude:          52.200876
#   Commanded vehicle depth:  881.066157 
#   Seafloor depth:           -931.111762
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 104.216197 meters
#   Minimum depth: 931.334829 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.079005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.334829 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388368;
longitude = -121.511457;
duration = 416;
initialDepth = 882.409160;
finalDepth = 881.334829;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.388069
#   Actual altitude:          50.388069
#   Commanded vehicle depth:  881.334829 
#   Seafloor depth:           -931.722898
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.816112 meters
#   Minimum depth: 932.409160 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.923697 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.409160 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387548;
longitude = -121.512017;
duration = 403;
initialDepth = 884.112145;
finalDepth = 882.409160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7029369999999
#   Actual altitude:          51.7029369999999
#   Commanded vehicle depth:  882.40916 
#   Seafloor depth:           -934.112097
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.516479 meters
#   Minimum depth: 934.112145 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.184255 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.112145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386755;
longitude = -121.512559;
duration = 410;
initialDepth = 885.940945;
finalDepth = 884.112145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0965669999999
#   Actual altitude:          52.0965669999999
#   Commanded vehicle depth:  884.112145 
#   Seafloor depth:           -936.208712
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.516695 meters
#   Minimum depth: 935.940945 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.184255 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.940945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385948;
longitude = -121.513110;
duration = 410;
initialDepth = 885.940945;
finalDepth = 885.940945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0965669999999
#   Actual altitude:          52.0965669999999
#   Commanded vehicle depth:  885.940945 
#   Seafloor depth:           -935.982044
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.516912 meters
#   Minimum depth: 935.940945 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.172438 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.940945 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385142;
longitude = -121.513661;
duration = 410;
initialDepth = 886.955400;
finalDepth = 885.940945;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1322489999999
#   Actual altitude:          51.1322489999999
#   Commanded vehicle depth:  885.940945 
#   Seafloor depth:           -937.073194
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.517128 meters
#   Minimum depth: 936.955400 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.093309 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.955400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384335;
longitude = -121.514212;
duration = 410;
initialDepth = 891.185633;
finalDepth = 886.955400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.916517
#   Actual altitude:          53.916517
#   Commanded vehicle depth:  886.9554 
#   Seafloor depth:           -940.871917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.517344 meters
#   Minimum depth: 941.185633 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.093309 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.185633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383529;
longitude = -121.514763;
duration = 410;
initialDepth = 891.807282;
finalDepth = 891.185633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.916517
#   Actual altitude:          53.916517
#   Commanded vehicle depth:  891.185633 
#   Seafloor depth:           -942.418497
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.517560 meters
#   Minimum depth: 941.807282 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.238409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.807282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382722;
longitude = -121.515314;
duration = 410;
initialDepth = 894.131792;
finalDepth = 891.807282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.80028
#   Actual altitude:          51.80028
#   Commanded vehicle depth:  891.807282 
#   Seafloor depth:           -943.607562
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.517776 meters
#   Minimum depth: 944.131792 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.814300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.131792 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381916;
longitude = -121.515865;
duration = 410;
initialDepth = 896.243572;
finalDepth = 894.131792;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.095364
#   Actual altitude:          52.095364
#   Commanded vehicle depth:  894.131792 
#   Seafloor depth:           -946.227156
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.517993 meters
#   Minimum depth: 946.243572 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.152392 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.243572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381109;
longitude = -121.516416;
duration = 410;
initialDepth = 896.841716;
finalDepth = 896.243572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.095364
#   Actual altitude:          52.095364
#   Commanded vehicle depth:  896.243572 
#   Seafloor depth:           -946.522946
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.518209 meters
#   Minimum depth: 946.841716 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.344415 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.841716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380303;
longitude = -121.516967;
duration = 410;
initialDepth = 898.118936;
finalDepth = 896.841716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.532118
#   Actual altitude:          51.532118
#   Commanded vehicle depth:  896.841716 
#   Seafloor depth:           -948.373834
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.518425 meters
#   Minimum depth: 948.118936 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.726822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.118936 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379496;
longitude = -121.517518;
duration = 410;
initialDepth = 900.026124;
finalDepth = 898.118936;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.532118
#   Actual altitude:          51.532118
#   Commanded vehicle depth:  898.118936 
#   Seafloor depth:           -949.540621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.518642 meters
#   Minimum depth: 950.026124 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.507365 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.026124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378690;
longitude = -121.518069;
duration = 410;
initialDepth = 902.823715;
finalDepth = 900.026124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.810261
#   Actual altitude:          51.810261
#   Commanded vehicle depth:  900.026124 
#   Seafloor depth:           -951.836385
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.518858 meters
#   Minimum depth: 952.823715 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.320232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.823715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377883;
longitude = -121.518620;
duration = 410;
initialDepth = 906.205652;
finalDepth = 902.823715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.782333
#   Actual altitude:          52.782333
#   Commanded vehicle depth:  902.823715 
#   Seafloor depth:           -955.606048
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 104.899863 meters
#   Minimum depth: 956.205652 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.927774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.205652 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377077;
longitude = -121.519172;
duration = 419;
initialDepth = 911.332710;
finalDepth = 906.205652;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.117693
#   Actual altitude:          54.117693
#   Commanded vehicle depth:  906.205652 
#   Seafloor depth:           -960.323345
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.138501 meters
#   Minimum depth: 961.332710 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.514716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 911.332710 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376251;
longitude = -121.519735;
duration = 400;
initialDepth = 912.490229;
finalDepth = 911.332710;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.117693
#   Actual altitude:          54.117693
#   Commanded vehicle depth:  911.33271 
#   Seafloor depth:           -963.991399
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.519506 meters
#   Minimum depth: 962.490229 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.514716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.490229 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375464;
longitude = -121.520274;
duration = 410;
initialDepth = 912.398976;
finalDepth = 912.490229;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.658689
#   Actual altitude:          52.658689
#   Commanded vehicle depth:  912.490229 
#   Seafloor depth:           -963.328077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.519723 meters
#   Minimum depth: 962.398976 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.189567 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.398976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374657;
longitude = -121.520825;
duration = 410;
initialDepth = 911.666795;
finalDepth = 912.398976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.837848
#   Actual altitude:          50.837848
#   Commanded vehicle depth:  912.398976 
#   Seafloor depth:           -962.413950
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.519939 meters
#   Minimum depth: 961.666795 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.189567 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 911.666795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373851;
longitude = -121.521376;
duration = 410;
initialDepth = 911.217530;
finalDepth = 911.666795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9802040000001
#   Actual altitude:          50.9802040000001
#   Commanded vehicle depth:  911.666795 
#   Seafloor depth:           -962.646999
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.520156 meters
#   Minimum depth: 961.217530 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.414377 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 911.217530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373044;
longitude = -121.521927;
duration = 410;
initialDepth = 910.364093;
finalDepth = 911.217530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9802040000001
#   Actual altitude:          50.9802040000001
#   Commanded vehicle depth:  911.21753 
#   Seafloor depth:           -961.797973
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.520371 meters
#   Minimum depth: 960.364093 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.764447 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.364093 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372238;
longitude = -121.522478;
duration = 410;
initialDepth = 910.174319;
finalDepth = 910.364093;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.617164
#   Actual altitude:          50.617164
#   Commanded vehicle depth:  910.364093 
#   Seafloor depth:           -960.981257
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.520588 meters
#   Minimum depth: 960.174319 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.023980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.174319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371431;
longitude = -121.523029;
duration = 410;
initialDepth = 910.174319;
finalDepth = 910.174319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.617164
#   Actual altitude:          50.617164
#   Commanded vehicle depth:  910.174319 
#   Seafloor depth:           -960.220312
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.520804 meters
#   Minimum depth: 960.174319 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.562690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.174319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370625;
longitude = -121.523580;
duration = 410;
initialDepth = 908.756691;
finalDepth = 910.174319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9254910000001
#   Actual altitude:          50.9254910000001
#   Commanded vehicle depth:  910.174319 
#   Seafloor depth:           -961.099810
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.521021 meters
#   Minimum depth: 958.756691 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.562690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.756691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369818;
longitude = -121.524131;
duration = 410;
initialDepth = 908.756691;
finalDepth = 908.756691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6261969999999
#   Actual altitude:          51.6261969999999
#   Commanded vehicle depth:  908.756691 
#   Seafloor depth:           -960.382888
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.521237 meters
#   Minimum depth: 958.756691 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.214314 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.756691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369012;
longitude = -121.524682;
duration = 410;
initialDepth = 906.054939;
finalDepth = 908.756691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6261969999999
#   Actual altitude:          51.6261969999999
#   Commanded vehicle depth:  908.756691 
#   Seafloor depth:           -958.964651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.521453 meters
#   Minimum depth: 956.054939 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.390813 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.054939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368205;
longitude = -121.525233;
duration = 410;
initialDepth = 903.108985;
finalDepth = 906.054939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.896014
#   Actual altitude:          52.896014
#   Commanded vehicle depth:  906.054939 
#   Seafloor depth:           -958.950953
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.521669 meters
#   Minimum depth: 953.108985 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.451772 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.108985 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367399;
longitude = -121.525784;
duration = 410;
initialDepth = 901.296825;
finalDepth = 903.108985;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9338730000001
#   Actual altitude:          52.9338730000001
#   Commanded vehicle depth:  903.108985 
#   Seafloor depth:           -956.042858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 103.033010 meters
#   Minimum depth: 951.296825 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.765264 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.296825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366592;
longitude = -121.526335;
duration = 412;
initialDepth = 897.805320;
finalDepth = 901.296825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9338730000001
#   Actual altitude:          52.9338730000001
#   Commanded vehicle depth:  901.296825 
#   Seafloor depth:           -953.188199
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.010978 meters
#   Minimum depth: 947.805320 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.781924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.805320 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365782;
longitude = -121.526889;
duration = 408;
initialDepth = 897.511307;
finalDepth = 897.805320;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.787165
#   Actual altitude:          54.787165
#   Commanded vehicle depth:  897.80532 
#   Seafloor depth:           -952.592485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.522318 meters
#   Minimum depth: 947.511307 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.276515 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.511307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364979;
longitude = -121.527437;
duration = 410;
initialDepth = 888.973282;
finalDepth = 897.511307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.787165
#   Actual altitude:          54.787165
#   Commanded vehicle depth:  897.511307 
#   Seafloor depth:           -947.511307
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.522534 meters
#   Minimum depth: 938.973282 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.686411 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.973282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364173;
longitude = -121.527988;
duration = 410;
initialDepth = 888.973282;
finalDepth = 888.973282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.7520079999999
#   Actual altitude:          58.7520079999999
#   Commanded vehicle depth:  888.973282 
#   Seafloor depth:           -947.725290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.522751 meters
#   Minimum depth: 938.973282 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.182412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.973282 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363366;
longitude = -121.528539;
duration = 410;
initialDepth = 892.088844;
finalDepth = 888.973282;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.7520079999999
#   Actual altitude:          58.7520079999999
#   Commanded vehicle depth:  888.973282 
#   Seafloor depth:           -940.204869
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.522967 meters
#   Minimum depth: 942.088844 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.353555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.088844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362560;
longitude = -121.529090;
duration = 410;
initialDepth = 898.822028;
finalDepth = 892.088844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.221823
#   Actual altitude:          57.221823
#   Commanded vehicle depth:  892.088844 
#   Seafloor depth:           -949.310667
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.523184 meters
#   Minimum depth: 948.822028 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.353555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.822028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361753;
longitude = -121.529641;
duration = 410;
initialDepth = 897.121313;
finalDepth = 898.822028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.221823
#   Actual altitude:          57.221823
#   Commanded vehicle depth:  898.822028 
#   Seafloor depth:           -950.734935
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.523400 meters
#   Minimum depth: 947.121313 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.708354 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.121313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360947;
longitude = -121.530192;
duration = 410;
initialDepth = 895.564318;
finalDepth = 897.121313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9129069999999
#   Actual altitude:          51.9129069999999
#   Commanded vehicle depth:  897.121313 
#   Seafloor depth:           -948.770901
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 102.523616 meters
#   Minimum depth: 945.564318 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.417038 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.564318 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360140;
longitude = -121.530743;
duration = 410;
initialDepth = 890.902899;
finalDepth = 895.564318;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.649588
#   Actual altitude:          51.649588
#   Commanded vehicle depth:  895.564318 
#   Seafloor depth:           -946.641482
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 30
#   Segment length 100.744575 meters
#   Minimum depth: 940.902899 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.466118 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.902899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359334;
longitude = -121.531295;
duration = 402;
initialDepth = 890.902899;
finalDepth = 890.902899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.4018579999999
#   Actual altitude:          54.4018579999999
#   Commanded vehicle depth:  890.902899 
#   Seafloor depth:           -945.304757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 29
#   Segment length 150.022466 meters
#   Minimum depth: 940.902899 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.464351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.902899 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358541;
longitude = -121.531836;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 897.685958;
finalDepth = 890.902899;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.4018579999999
#   Actual altitude:          54.4018579999999
#   Commanded vehicle depth:  890.902899 
#   Seafloor depth:           -942.777466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 163.799013 meters
#   Minimum depth: 947.685958 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.464351 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.685958 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359201;
longitude = -121.533277;
duration = 655;
# abortOnTimeout    = True; 
initialDepth = 899.148748;
finalDepth = 897.685958;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.874567
#   Actual altitude:          51.874567
#   Commanded vehicle depth:  897.685958 
#   Seafloor depth:           -948.923386
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.523249 meters
#   Minimum depth: 949.148748 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.972900 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.148748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360490;
longitude = -121.532397;
duration = 410;
initialDepth = 899.898019;
finalDepth = 899.148748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.237428
#   Actual altitude:          51.237428
#   Commanded vehicle depth:  899.148748 
#   Seafloor depth:           -949.754282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.523031 meters
#   Minimum depth: 949.898019 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.262755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.898019 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361296;
longitude = -121.531846;
duration = 410;
initialDepth = 901.124418;
finalDepth = 899.898019;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.968387
#   Actual altitude:          51.968387
#   Commanded vehicle depth:  899.898019 
#   Seafloor depth:           -951.866406
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.522816 meters
#   Minimum depth: 951.124418 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.919197 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.124418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362103;
longitude = -121.531295;
duration = 410;
initialDepth = 902.037195;
finalDepth = 901.124418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.968387
#   Actual altitude:          51.968387
#   Commanded vehicle depth:  901.124418 
#   Seafloor depth:           -952.397966
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.522599 meters
#   Minimum depth: 952.037195 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.959260 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.037195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362909;
longitude = -121.530743;
duration = 410;
initialDepth = 898.405546;
finalDepth = 902.037195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.922065
#   Actual altitude:          54.922065
#   Commanded vehicle depth:  902.037195 
#   Seafloor depth:           -956.959260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.522383 meters
#   Minimum depth: 948.405546 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.954023 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.405546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363716;
longitude = -121.530192;
duration = 410;
initialDepth = 898.405546;
finalDepth = 898.405546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.922065
#   Actual altitude:          54.922065
#   Commanded vehicle depth:  898.405546 
#   Seafloor depth:           -951.548484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.522166 meters
#   Minimum depth: 948.405546 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.560841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.405546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364522;
longitude = -121.529641;
duration = 410;
initialDepth = 898.881086;
finalDepth = 898.405546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1429380000001
#   Actual altitude:          53.1429380000001
#   Commanded vehicle depth:  898.405546 
#   Seafloor depth:           -950.238606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.521950 meters
#   Minimum depth: 948.881086 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.560841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.881086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365329;
longitude = -121.529090;
duration = 410;
initialDepth = 898.881086;
finalDepth = 898.881086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.118349
#   Actual altitude:          54.118349
#   Commanded vehicle depth:  898.881086 
#   Seafloor depth:           -952.999435
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.521734 meters
#   Minimum depth: 948.881086 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.297554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.881086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366135;
longitude = -121.528539;
duration = 410;
initialDepth = 900.086139;
finalDepth = 898.881086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.118349
#   Actual altitude:          54.118349
#   Commanded vehicle depth:  898.881086 
#   Seafloor depth:           -951.251942
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.521517 meters
#   Minimum depth: 950.086139 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.437250 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.086139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366942;
longitude = -121.527988;
duration = 410;
initialDepth = 905.358787;
finalDepth = 900.086139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.619382
#   Actual altitude:          55.619382
#   Commanded vehicle depth:  900.086139 
#   Seafloor depth:           -955.705521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.521302 meters
#   Minimum depth: 955.358787 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.990988 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.358787 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367748;
longitude = -121.527437;
duration = 410;
initialDepth = 910.767901;
finalDepth = 905.358787;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.619382
#   Actual altitude:          55.619382
#   Commanded vehicle depth:  905.358787 
#   Seafloor depth:           -958.767283
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.805304 meters
#   Minimum depth: 960.767901 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.357527 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.767901 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368555;
longitude = -121.526886;
duration = 411;
initialDepth = 911.650011;
finalDepth = 910.767901;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.408496
#   Actual altitude:          53.408496
#   Commanded vehicle depth:  910.767901 
#   Seafloor depth:           -963.083181
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.236649 meters
#   Minimum depth: 961.650011 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.357527 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 911.650011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369363;
longitude = -121.526334;
duration = 408;
initialDepth = 911.650011;
finalDepth = 911.650011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3152799999999
#   Actual altitude:          52.3152799999999
#   Commanded vehicle depth:  911.650011 
#   Seafloor depth:           -962.999142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.520652 meters
#   Minimum depth: 961.650011 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.309097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 911.650011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370168;
longitude = -121.525784;
duration = 410;
initialDepth = 912.759599;
finalDepth = 911.650011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3491310000001
#   Actual altitude:          51.3491310000001
#   Commanded vehicle depth:  911.650011 
#   Seafloor depth:           -962.161419
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.520436 meters
#   Minimum depth: 962.759599 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.309097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.759599 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370974;
longitude = -121.525233;
duration = 410;
initialDepth = 912.759599;
finalDepth = 912.759599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.931952
#   Actual altitude:          51.931952
#   Commanded vehicle depth:  912.759599 
#   Seafloor depth:           -964.691551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.520220 meters
#   Minimum depth: 962.759599 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.545482 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.759599 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371781;
longitude = -121.524682;
duration = 410;
initialDepth = 913.077760;
finalDepth = 912.759599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.931952
#   Actual altitude:          51.931952
#   Commanded vehicle depth:  912.759599 
#   Seafloor depth:           -962.913702
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.520003 meters
#   Minimum depth: 963.077760 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.976371 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.077760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372587;
longitude = -121.524131;
duration = 410;
initialDepth = 913.243521;
finalDepth = 913.077760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.300479
#   Actual altitude:          50.300479
#   Commanded vehicle depth:  913.07776 
#   Seafloor depth:           -963.378239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.519787 meters
#   Minimum depth: 963.243521 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.766074 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.243521 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373394;
longitude = -121.523580;
duration = 410;
initialDepth = 914.044631;
finalDepth = 913.243521;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.737886
#   Actual altitude:          50.737886
#   Commanded vehicle depth:  913.243521 
#   Seafloor depth:           -963.981407
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.519571 meters
#   Minimum depth: 964.044631 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.002346 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 914.044631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374200;
longitude = -121.523029;
duration = 410;
initialDepth = 915.134356;
finalDepth = 914.044631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0269450000001
#   Actual altitude:          51.0269450000001
#   Commanded vehicle depth:  914.044631 
#   Seafloor depth:           -965.071576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.519354 meters
#   Minimum depth: 965.134356 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.002346 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.134356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375007;
longitude = -121.522478;
duration = 410;
initialDepth = 916.580637;
finalDepth = 915.134356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1314169999999
#   Actual altitude:          52.1314169999999
#   Commanded vehicle depth:  915.134356 
#   Seafloor depth:           -967.265773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.519139 meters
#   Minimum depth: 966.580637 meters looking forward 200.000000 meters along route
#   Maximum depth: 972.053220 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.580637 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375813;
longitude = -121.521927;
duration = 410;
initialDepth = 918.107805;
finalDepth = 916.580637;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1314169999999
#   Actual altitude:          52.1314169999999
#   Commanded vehicle depth:  916.580637 
#   Seafloor depth:           -967.933333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.518921 meters
#   Minimum depth: 968.107805 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.349051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.107805 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376620;
longitude = -121.521376;
duration = 410;
initialDepth = 910.755484;
finalDepth = 918.107805;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.873141
#   Actual altitude:          54.873141
#   Commanded vehicle depth:  918.107805 
#   Seafloor depth:           -972.980946
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.518706 meters
#   Minimum depth: 960.755484 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.349051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.755484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377426;
longitude = -121.520825;
duration = 410;
initialDepth = 905.343744;
finalDepth = 910.755484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.059441
#   Actual altitude:          58.059441
#   Commanded vehicle depth:  910.755484 
#   Seafloor depth:           -968.814925
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.518489 meters
#   Minimum depth: 955.343744 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.830465 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.343744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378233;
longitude = -121.520274;
duration = 410;
initialDepth = 903.114936;
finalDepth = 905.343744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.059441
#   Actual altitude:          58.059441
#   Commanded vehicle depth:  905.343744 
#   Seafloor depth:           -960.380072
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 102.518273 meters
#   Minimum depth: 953.114936 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.934630 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.114936 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379039;
longitude = -121.519723;
duration = 410;
initialDepth = 900.920193;
finalDepth = 903.114936;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.036328
#   Actual altitude:          55.036328
#   Commanded vehicle depth:  903.114936 
#   Seafloor depth:           -955.308646
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 103.482849 meters
#   Minimum depth: 950.920193 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.982450 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.920193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379846;
longitude = -121.519172;
duration = 413;
initialDepth = 898.455841;
finalDepth = 900.920193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.19371
#   Actual altitude:          52.19371
#   Commanded vehicle depth:  900.920193 
#   Seafloor depth:           -953.082426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.068069 meters
#   Minimum depth: 948.455841 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.591273 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.455841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380660;
longitude = -121.518615;
duration = 420;
initialDepth = 896.487476;
finalDepth = 898.455841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4310290000001
#   Actual altitude:          52.4310290000001
#   Commanded vehicle depth:  898.455841 
#   Seafloor depth:           -950.886870
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.067842 meters
#   Minimum depth: 946.487476 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.984433 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.487476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381486;
longitude = -121.518051;
duration = 420;
initialDepth = 896.487476;
finalDepth = 896.487476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4310290000001
#   Actual altitude:          52.4310290000001
#   Commanded vehicle depth:  896.487476 
#   Seafloor depth:           -948.426917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.067615 meters
#   Minimum depth: 946.487476 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.074261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.487476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382313;
longitude = -121.517486;
duration = 420;
initialDepth = 893.515480;
finalDepth = 896.487476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.939441
#   Actual altitude:          51.939441
#   Commanded vehicle depth:  896.487476 
#   Seafloor depth:           -946.488415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.067388 meters
#   Minimum depth: 943.515480 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.074261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.515480 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383139;
longitude = -121.516921;
duration = 420;
initialDepth = 891.283904;
finalDepth = 893.515480;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.994254
#   Actual altitude:          52.994254
#   Commanded vehicle depth:  893.51548 
#   Seafloor depth:           -946.509734
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.067160 meters
#   Minimum depth: 941.283904 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.346517 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.283904 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383966;
longitude = -121.516356;
duration = 420;
initialDepth = 890.752986;
finalDepth = 891.283904;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.994254
#   Actual altitude:          52.994254
#   Commanded vehicle depth:  891.283904 
#   Seafloor depth:           -943.262480
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.066934 meters
#   Minimum depth: 940.752986 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.306045 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.752986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384793;
longitude = -121.515792;
duration = 420;
initialDepth = 889.820135;
finalDepth = 890.752986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.978576
#   Actual altitude:          51.978576
#   Commanded vehicle depth:  890.752986 
#   Seafloor depth:           -941.351066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.066706 meters
#   Minimum depth: 939.820135 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.203208 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.820135 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385619;
longitude = -121.515227;
duration = 420;
initialDepth = 888.010028;
finalDepth = 889.820135;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.383073
#   Actual altitude:          51.383073
#   Commanded vehicle depth:  889.820135 
#   Seafloor depth:           -941.203208
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.066480 meters
#   Minimum depth: 938.010028 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.912904 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.010028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386446;
longitude = -121.514662;
duration = 420;
initialDepth = 888.010028;
finalDepth = 888.010028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.383073
#   Actual altitude:          51.383073
#   Commanded vehicle depth:  888.010028 
#   Seafloor depth:           -939.303160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.066252 meters
#   Minimum depth: 938.010028 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.046339 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.010028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387272;
longitude = -121.514097;
duration = 420;
initialDepth = 887.021302;
finalDepth = 888.010028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.293132
#   Actual altitude:          51.293132
#   Commanded vehicle depth:  888.010028 
#   Seafloor depth:           -938.133543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.066025 meters
#   Minimum depth: 937.021302 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.083554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.021302 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388099;
longitude = -121.513532;
duration = 420;
initialDepth = 883.103065;
finalDepth = 887.021302;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0622520000001
#   Actual altitude:          55.0622520000001
#   Commanded vehicle depth:  887.021302 
#   Seafloor depth:           -942.083554
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.065797 meters
#   Minimum depth: 933.103065 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.283671 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.103065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388925;
longitude = -121.512968;
duration = 420;
initialDepth = 881.824587;
finalDepth = 883.103065;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0622520000001
#   Actual altitude:          55.0622520000001
#   Commanded vehicle depth:  883.103065 
#   Seafloor depth:           -935.272559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.065571 meters
#   Minimum depth: 931.824587 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.572457 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.824587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389752;
longitude = -121.512403;
duration = 420;
initialDepth = 880.295975;
finalDepth = 881.824587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.169494
#   Actual altitude:          52.169494
#   Commanded vehicle depth:  881.824587 
#   Seafloor depth:           -932.832382
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 105.065344 meters
#   Minimum depth: 930.295975 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.322027 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.295975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390579;
longitude = -121.511838;
duration = 420;
initialDepth = 880.295975;
finalDepth = 880.295975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0077950000001
#   Actual altitude:          51.0077950000001
#   Commanded vehicle depth:  880.295975 
#   Seafloor depth:           -931.160561
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 28
#   Segment length 109.292248 meters
#   Minimum depth: 930.295975 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.477088 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.295975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391405;
longitude = -121.511273;
duration = 437;
initialDepth = 881.444591;
finalDepth = 880.295975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.864586
#   Actual altitude:          50.864586
#   Commanded vehicle depth:  880.295975 
#   Seafloor depth:           -930.372430
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 149.950992 meters
#   Minimum depth: 931.444591 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.883713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.444591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392265;
longitude = -121.510686;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 881.147050;
finalDepth = 881.444591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.122242
#   Actual altitude:          53.122242
#   Commanded vehicle depth:  881.444591 
#   Seafloor depth:           -934.566833
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 80.547339 meters
#   Minimum depth: 931.147050 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.883713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.147050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392926;
longitude = -121.512126;
duration = 322;
# abortOnTimeout    = True; 
initialDepth = 881.147050;
finalDepth = 881.147050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.122242
#   Actual altitude:          53.122242
#   Commanded vehicle depth:  881.14705 
#   Seafloor depth:           -931.833633
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.517238 meters
#   Minimum depth: 931.147050 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.855937 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.147050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392292;
longitude = -121.512559;
duration = 410;
initialDepth = 881.487518;
finalDepth = 881.147050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6865829999999
#   Actual altitude:          50.6865829999999
#   Commanded vehicle depth:  881.14705 
#   Seafloor depth:           -931.382444
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.517455 meters
#   Minimum depth: 931.487518 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.324608 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.487518 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391486;
longitude = -121.513110;
duration = 410;
initialDepth = 882.425422;
finalDepth = 881.487518;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.702768
#   Actual altitude:          50.702768
#   Commanded vehicle depth:  881.487518 
#   Seafloor depth:           -932.190286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.517670 meters
#   Minimum depth: 932.425422 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.347399 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.425422 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390679;
longitude = -121.513661;
duration = 410;
initialDepth = 885.079171;
finalDepth = 882.425422;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.944759
#   Actual altitude:          52.944759
#   Commanded vehicle depth:  882.425422 
#   Seafloor depth:           -935.370181
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.517888 meters
#   Minimum depth: 935.079171 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.347399 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.079171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389873;
longitude = -121.514212;
duration = 410;
initialDepth = 885.079171;
finalDepth = 885.079171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.944759
#   Actual altitude:          52.944759
#   Commanded vehicle depth:  885.079171 
#   Seafloor depth:           -935.295390
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.518103 meters
#   Minimum depth: 935.079171 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.571223 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.079171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389066;
longitude = -121.514763;
duration = 410;
initialDepth = 885.988832;
finalDepth = 885.079171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.656603
#   Actual altitude:          50.656603
#   Commanded vehicle depth:  885.079171 
#   Seafloor depth:           -935.735774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.518320 meters
#   Minimum depth: 935.988832 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.987926 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.988832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388260;
longitude = -121.515314;
duration = 410;
initialDepth = 889.419013;
finalDepth = 885.988832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3305319999999
#   Actual altitude:          52.3305319999999
#   Commanded vehicle depth:  885.988832 
#   Seafloor depth:           -938.319364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.518536 meters
#   Minimum depth: 939.419013 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.169900 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.419013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387453;
longitude = -121.515865;
duration = 410;
initialDepth = 893.643105;
finalDepth = 889.419013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1428840000001
#   Actual altitude:          53.1428840000001
#   Commanded vehicle depth:  889.419013 
#   Seafloor depth:           -942.561897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.518752 meters
#   Minimum depth: 943.643105 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.806513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.643105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386647;
longitude = -121.516416;
duration = 410;
initialDepth = 895.374003;
finalDepth = 893.643105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1428840000001
#   Actual altitude:          53.1428840000001
#   Commanded vehicle depth:  893.643105 
#   Seafloor depth:           -945.139768
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.518968 meters
#   Minimum depth: 945.374003 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.806513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.374003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385840;
longitude = -121.516967;
duration = 410;
initialDepth = 895.374003;
finalDepth = 895.374003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.496663
#   Actual altitude:          51.496663
#   Commanded vehicle depth:  895.374003 
#   Seafloor depth:           -945.406804
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.519185 meters
#   Minimum depth: 945.374003 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.398352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.374003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385034;
longitude = -121.517518;
duration = 410;
initialDepth = 896.566304;
finalDepth = 895.374003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4471109999999
#   Actual altitude:          50.4471109999999
#   Commanded vehicle depth:  895.374003 
#   Seafloor depth:           -945.821114
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 103.214048 meters
#   Minimum depth: 946.566304 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.838416 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.566304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384227;
longitude = -121.518069;
duration = 412;
initialDepth = 898.836025;
finalDepth = 896.566304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9150940000001
#   Actual altitude:          50.9150940000001
#   Commanded vehicle depth:  896.566304 
#   Seafloor depth:           -947.481398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 101.824970 meters
#   Minimum depth: 948.836025 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.522040 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.836025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383415;
longitude = -121.518624;
duration = 407;
initialDepth = 901.366855;
finalDepth = 898.836025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0419880000001
#   Actual altitude:          52.0419880000001
#   Commanded vehicle depth:  898.836025 
#   Seafloor depth:           -950.878013
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.519834 meters
#   Minimum depth: 951.366855 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.518851 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.366855 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382614;
longitude = -121.519172;
duration = 410;
initialDepth = 902.004964;
finalDepth = 901.366855;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0419880000001
#   Actual altitude:          52.0419880000001
#   Commanded vehicle depth:  901.366855 
#   Seafloor depth:           -951.641137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.520050 meters
#   Minimum depth: 952.004964 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.057500 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.004964 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381807;
longitude = -121.519723;
duration = 410;
initialDepth = 905.443186;
finalDepth = 902.004964;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.163195
#   Actual altitude:          53.163195
#   Commanded vehicle depth:  902.004964 
#   Seafloor depth:           -955.168159
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.520266 meters
#   Minimum depth: 955.443186 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.393111 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.443186 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381001;
longitude = -121.520274;
duration = 410;
initialDepth = 908.606471;
finalDepth = 905.443186;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.186365
#   Actual altitude:          54.186365
#   Commanded vehicle depth:  905.443186 
#   Seafloor depth:           -959.629551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.520482 meters
#   Minimum depth: 958.606471 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.393111 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.606471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380194;
longitude = -121.520825;
duration = 410;
initialDepth = 908.091248;
finalDepth = 908.606471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.186365
#   Actual altitude:          54.186365
#   Commanded vehicle depth:  908.606471 
#   Seafloor depth:           -960.739217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.520699 meters
#   Minimum depth: 958.091248 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.158341 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.091248 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379388;
longitude = -121.521376;
duration = 410;
initialDepth = 908.091248;
finalDepth = 908.091248;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.132746
#   Actual altitude:          52.132746
#   Commanded vehicle depth:  908.091248 
#   Seafloor depth:           -958.329975
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.520915 meters
#   Minimum depth: 958.091248 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.251751 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.091248 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378581;
longitude = -121.521927;
duration = 410;
initialDepth = 910.271534;
finalDepth = 908.091248;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6719000000001
#   Actual altitude:          51.6719000000001
#   Commanded vehicle depth:  908.091248 
#   Seafloor depth:           -959.763148
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.521131 meters
#   Minimum depth: 960.271534 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.081523 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.271534 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377775;
longitude = -121.522478;
duration = 410;
initialDepth = 914.916272;
finalDepth = 910.271534;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5375720000001
#   Actual altitude:          53.5375720000001
#   Commanded vehicle depth:  910.271534 
#   Seafloor depth:           -963.809106
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.521348 meters
#   Minimum depth: 964.916272 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.536905 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 914.916272 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376968;
longitude = -121.523029;
duration = 410;
initialDepth = 916.092025;
finalDepth = 914.916272;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.468479
#   Actual altitude:          54.468479
#   Commanded vehicle depth:  914.916272 
#   Seafloor depth:           -969.384751
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.521564 meters
#   Minimum depth: 966.092025 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.536905 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.092025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376162;
longitude = -121.523580;
duration = 410;
initialDepth = 916.092025;
finalDepth = 916.092025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.468479
#   Actual altitude:          54.468479
#   Commanded vehicle depth:  916.092025 
#   Seafloor depth:           -967.515591
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.521780 meters
#   Minimum depth: 966.092025 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.204563 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.092025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375355;
longitude = -121.524131;
duration = 410;
initialDepth = 916.662026;
finalDepth = 916.092025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4235659999999
#   Actual altitude:          51.4235659999999
#   Commanded vehicle depth:  916.092025 
#   Seafloor depth:           -966.288740
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.521997 meters
#   Minimum depth: 966.662026 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.720291 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.662026 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374549;
longitude = -121.524682;
duration = 410;
initialDepth = 916.410937;
finalDepth = 916.662026;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4915510000001
#   Actual altitude:          50.4915510000001
#   Commanded vehicle depth:  916.662026 
#   Seafloor depth:           -967.153577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.522213 meters
#   Minimum depth: 966.410937 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.720291 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.410937 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373742;
longitude = -121.525233;
duration = 410;
initialDepth = 915.894674;
finalDepth = 916.410937;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4915510000001
#   Actual altitude:          50.4915510000001
#   Commanded vehicle depth:  916.410937 
#   Seafloor depth:           -966.705872
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 103.854278 meters
#   Minimum depth: 965.894674 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.940882 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.894674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372936;
longitude = -121.525784;
duration = 415;
initialDepth = 915.875477;
finalDepth = 915.894674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.520045
#   Actual altitude:          50.520045
#   Commanded vehicle depth:  915.894674 
#   Seafloor depth:           -966.414719
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 101.190797 meters
#   Minimum depth: 965.875477 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.226734 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.875477 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372119;
longitude = -121.526342;
duration = 404;
initialDepth = 915.879007;
finalDepth = 915.875477;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.520045
#   Actual altitude:          50.520045
#   Commanded vehicle depth:  915.875477 
#   Seafloor depth:           -965.875477
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.522861 meters
#   Minimum depth: 965.879007 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.214333 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.879007 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371323;
longitude = -121.526886;
duration = 410;
initialDepth = 915.295688;
finalDepth = 915.879007;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.206201
#   Actual altitude:          52.206201
#   Commanded vehicle depth:  915.879007 
#   Seafloor depth:           -968.085208
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.523079 meters
#   Minimum depth: 965.295688 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.831589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.295688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370516;
longitude = -121.527437;
duration = 410;
initialDepth = 912.741658;
finalDepth = 915.295688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.206201
#   Actual altitude:          52.206201
#   Commanded vehicle depth:  915.295688 
#   Seafloor depth:           -966.555779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.523294 meters
#   Minimum depth: 962.741658 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.533132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.741658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369709;
longitude = -121.527988;
duration = 410;
initialDepth = 910.949041;
finalDepth = 912.741658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.251347
#   Actual altitude:          52.251347
#   Commanded vehicle depth:  912.741658 
#   Seafloor depth:           -964.993005
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.523511 meters
#   Minimum depth: 960.949041 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.702556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.949041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368903;
longitude = -121.528539;
duration = 410;
initialDepth = 907.866556;
finalDepth = 910.949041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.251347
#   Actual altitude:          52.251347
#   Commanded vehicle depth:  910.949041 
#   Seafloor depth:           -961.902431
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.523727 meters
#   Minimum depth: 957.866556 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.334282 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.866556 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368096;
longitude = -121.529090;
duration = 410;
initialDepth = 905.447037;
finalDepth = 907.866556;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2862550000001
#   Actual altitude:          51.2862550000001
#   Commanded vehicle depth:  907.866556 
#   Seafloor depth:           -959.152811
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.523944 meters
#   Minimum depth: 955.447037 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.662975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.447037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367290;
longitude = -121.529641;
duration = 410;
initialDepth = 895.502448;
finalDepth = 905.447037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2159379999999
#   Actual altitude:          58.2159379999999
#   Commanded vehicle depth:  905.447037 
#   Seafloor depth:           -963.662975
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.524159 meters
#   Minimum depth: 945.502448 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.812281 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.502448 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366483;
longitude = -121.530192;
duration = 410;
initialDepth = 892.447386;
finalDepth = 895.502448;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.9927650000001
#   Actual altitude:          58.9927650000001
#   Commanded vehicle depth:  895.502448 
#   Seafloor depth:           -954.495213
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.524377 meters
#   Minimum depth: 942.447386 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.396181 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.447386 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365677;
longitude = -121.530743;
duration = 410;
initialDepth = 892.447386;
finalDepth = 892.447386;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.9927650000001
#   Actual altitude:          58.9927650000001
#   Commanded vehicle depth:  892.447386 
#   Seafloor depth:           -946.869268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.524592 meters
#   Minimum depth: 942.447386 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.562967 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.447386 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364870;
longitude = -121.531295;
duration = 410;
initialDepth = 905.987057;
finalDepth = 892.447386;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.256721
#   Actual altitude:          64.256721
#   Commanded vehicle depth:  892.447386 
#   Seafloor depth:           -956.704107
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 19.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.524809 meters
#   Minimum depth: 955.987057 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.562967 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.987057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364064;
longitude = -121.531846;
duration = 410;
initialDepth = 905.202023;
finalDepth = 905.987057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.256721
#   Actual altitude:          64.256721
#   Commanded vehicle depth:  905.987057 
#   Seafloor depth:           -959.273959
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 19.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.525025 meters
#   Minimum depth: 955.202023 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.758456 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.202023 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363257;
longitude = -121.532397;
duration = 410;
initialDepth = 904.062453;
finalDepth = 905.202023;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2869019999999
#   Actual altitude:          53.2869019999999
#   Commanded vehicle depth:  905.202023 
#   Seafloor depth:           -958.096771
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 102.525242 meters
#   Minimum depth: 954.062453 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.351766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.062453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362451;
longitude = -121.532948;
duration = 410;
initialDepth = 902.189835;
finalDepth = 904.062453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.8947479999999
#   Actual altitude:          52.8947479999999
#   Commanded vehicle depth:  904.062453 
#   Seafloor depth:           -955.330713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 104.494545 meters
#   Minimum depth: 952.189835 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.660141 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.189835 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361644;
longitude = -121.533499;
duration = 417;
initialDepth = 900.858770;
finalDepth = 902.189835;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.852354
#   Actual altitude:          51.852354
#   Commanded vehicle depth:  902.189835 
#   Seafloor depth:           -954.042189
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 26
#   Segment length 122.177705 meters
#   Minimum depth: 950.858770 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.327805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.858770 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360822;
longitude = -121.534060;
duration = 488;
initialDepth = 900.858770;
finalDepth = 900.858770;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.788003
#   Actual altitude:          52.788003
#   Commanded vehicle depth:  900.85877 
#   Seafloor depth:           -953.646773
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 25
#   Segment length 150.074648 meters
#   Minimum depth: 950.858770 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.369557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.858770 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359861;
longitude = -121.534717;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 902.513456;
finalDepth = 900.858770;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.788003
#   Actual altitude:          52.788003
#   Commanded vehicle depth:  900.85877 
#   Seafloor depth:           -951.793396
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 24
#   Segment length 84.675054 meters
#   Minimum depth: 952.513456 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.323417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.513456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360522;
longitude = -121.536158;
duration = 338;
# abortOnTimeout    = True; 
initialDepth = 905.085213;
finalDepth = 902.513456;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.04616
#   Actual altitude:          54.04616
#   Commanded vehicle depth:  902.513456 
#   Seafloor depth:           -956.559616
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.522945 meters
#   Minimum depth: 955.085213 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.323417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.085213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361188;
longitude = -121.535703;
duration = 410;
initialDepth = 905.417812;
finalDepth = 905.085213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.04616
#   Actual altitude:          54.04616
#   Commanded vehicle depth:  905.085213 
#   Seafloor depth:           -955.085213
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.522728 meters
#   Minimum depth: 955.417812 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.612949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.417812 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361995;
longitude = -121.535152;
duration = 410;
initialDepth = 907.818427;
finalDepth = 905.417812;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.223535
#   Actual altitude:          52.223535
#   Commanded vehicle depth:  905.417812 
#   Seafloor depth:           -957.641347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.522513 meters
#   Minimum depth: 957.818427 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.104539 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.818427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362801;
longitude = -121.534601;
duration = 410;
initialDepth = 909.026267;
finalDepth = 907.818427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.223535
#   Actual altitude:          52.223535
#   Commanded vehicle depth:  907.818427 
#   Seafloor depth:           -958.767559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.522295 meters
#   Minimum depth: 959.026267 meters looking forward 200.000000 meters along route
#   Maximum depth: 961.967290 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.026267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363608;
longitude = -121.534050;
duration = 410;
initialDepth = 910.840324;
finalDepth = 909.026267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.198248
#   Actual altitude:          51.198248
#   Commanded vehicle depth:  909.026267 
#   Seafloor depth:           -960.224515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 103.775321 meters
#   Minimum depth: 960.840324 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.545053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.840324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364414;
longitude = -121.533499;
duration = 415;
initialDepth = 912.936460;
finalDepth = 910.840324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.198248
#   Actual altitude:          51.198248
#   Commanded vehicle depth:  910.840324 
#   Seafloor depth:           -961.978123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 101.268622 meters
#   Minimum depth: 962.936460 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.360681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.936460 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365230;
longitude = -121.532941;
duration = 405;
initialDepth = 903.229091;
finalDepth = 912.936460;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.66313
#   Actual altitude:          51.66313
#   Commanded vehicle depth:  912.93646 
#   Seafloor depth:           -964.599590
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.521647 meters
#   Minimum depth: 953.229091 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.360681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.229091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366027;
longitude = -121.532397;
duration = 410;
initialDepth = 903.229091;
finalDepth = 903.229091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.901986
#   Actual altitude:          55.901986
#   Commanded vehicle depth:  903.229091 
#   Seafloor depth:           -959.131077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.521430 meters
#   Minimum depth: 953.229091 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.254841 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.229091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366834;
longitude = -121.531846;
duration = 410;
initialDepth = 903.681249;
finalDepth = 903.229091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.901986
#   Actual altitude:          55.901986
#   Commanded vehicle depth:  903.229091 
#   Seafloor depth:           -953.749758
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.521214 meters
#   Minimum depth: 953.681249 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.142899 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.681249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367640;
longitude = -121.531295;
duration = 410;
initialDepth = 909.289086;
finalDepth = 903.681249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.852197
#   Actual altitude:          55.852197
#   Commanded vehicle depth:  903.681249 
#   Seafloor depth:           -959.533446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.520998 meters
#   Minimum depth: 959.289086 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.808389 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.289086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368447;
longitude = -121.530743;
duration = 410;
initialDepth = 909.558917;
finalDepth = 909.289086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.852197
#   Actual altitude:          55.852197
#   Commanded vehicle depth:  909.289086 
#   Seafloor depth:           -959.721573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.520781 meters
#   Minimum depth: 959.558917 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.691518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.558917 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369253;
longitude = -121.530192;
duration = 410;
initialDepth = 909.558917;
finalDepth = 909.558917;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5142910000001
#   Actual altitude:          50.5142910000001
#   Commanded vehicle depth:  909.558917 
#   Seafloor depth:           -960.073208
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.520565 meters
#   Minimum depth: 959.558917 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.418777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.558917 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370060;
longitude = -121.529641;
duration = 410;
initialDepth = 917.220798;
finalDepth = 909.558917;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.3326850000001
#   Actual altitude:          55.3326850000001
#   Commanded vehicle depth:  909.558917 
#   Seafloor depth:           -964.891602
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.520349 meters
#   Minimum depth: 967.220798 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.246435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 917.220798 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370866;
longitude = -121.529090;
duration = 410;
initialDepth = 918.296977;
finalDepth = 917.220798;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.3326850000001
#   Actual altitude:          55.3326850000001
#   Commanded vehicle depth:  917.220798 
#   Seafloor depth:           -968.714759
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.520132 meters
#   Minimum depth: 968.296977 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.246435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.296977 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371673;
longitude = -121.528539;
duration = 410;
initialDepth = 918.296977;
finalDepth = 918.296977;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.985594
#   Actual altitude:          51.985594
#   Commanded vehicle depth:  918.296977 
#   Seafloor depth:           -970.282571
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.519916 meters
#   Minimum depth: 968.296977 meters looking forward 200.000000 meters along route
#   Maximum depth: 970.192991 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.296977 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372479;
longitude = -121.527988;
duration = 410;
initialDepth = 918.593271;
finalDepth = 918.296977;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.985594
#   Actual altitude:          51.985594
#   Commanded vehicle depth:  918.296977 
#   Seafloor depth:           -968.909135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.519700 meters
#   Minimum depth: 968.593271 meters looking forward 200.000000 meters along route
#   Maximum depth: 970.236475 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.593271 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373286;
longitude = -121.527437;
duration = 410;
initialDepth = 919.421139;
finalDepth = 918.593271;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3732190000001
#   Actual altitude:          51.3732190000001
#   Commanded vehicle depth:  918.593271 
#   Seafloor depth:           -969.966490
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.519483 meters
#   Minimum depth: 969.421139 meters looking forward 200.000000 meters along route
#   Maximum depth: 970.255463 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.421139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374092;
longitude = -121.526886;
duration = 410;
initialDepth = 919.821492;
finalDepth = 919.421139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3732190000001
#   Actual altitude:          51.3732190000001
#   Commanded vehicle depth:  919.421139 
#   Seafloor depth:           -970.255463
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.519267 meters
#   Minimum depth: 969.821492 meters looking forward 200.000000 meters along route
#   Maximum depth: 970.842858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.821492 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374899;
longitude = -121.526335;
duration = 410;
initialDepth = 919.691731;
finalDepth = 919.821492;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8343239999999
#   Actual altitude:          50.8343239999999
#   Commanded vehicle depth:  919.821492 
#   Seafloor depth:           -969.885724
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 104.452841 meters
#   Minimum depth: 969.691731 meters looking forward 200.000000 meters along route
#   Maximum depth: 970.842858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.691731 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375705;
longitude = -121.525784;
duration = 417;
initialDepth = 918.192090;
finalDepth = 919.691731;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0956639999999
#   Actual altitude:          51.0956639999999
#   Commanded vehicle depth:  919.691731 
#   Seafloor depth:           -970.787395
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 100.585044 meters
#   Minimum depth: 968.192090 meters looking forward 200.000000 meters along route
#   Maximum depth: 970.654858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.192090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376527;
longitude = -121.525223;
duration = 402;
initialDepth = 916.411328;
finalDepth = 918.192090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.466778
#   Actual altitude:          51.466778
#   Commanded vehicle depth:  918.19209 
#   Seafloor depth:           -969.658868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.518618 meters
#   Minimum depth: 966.411328 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.212582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.411328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377318;
longitude = -121.524682;
duration = 410;
initialDepth = 913.532218;
finalDepth = 916.411328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.764201
#   Actual altitude:          51.764201
#   Commanded vehicle depth:  916.411328 
#   Seafloor depth:           -968.175529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.518401 meters
#   Minimum depth: 963.532218 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.548612 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.532218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378125;
longitude = -121.524131;
duration = 410;
initialDepth = 910.375059;
finalDepth = 913.532218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.874261
#   Actual altitude:          51.874261
#   Commanded vehicle depth:  913.532218 
#   Seafloor depth:           -965.406479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.518186 meters
#   Minimum depth: 960.375059 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.115029 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.375059 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378931;
longitude = -121.523580;
duration = 410;
initialDepth = 909.870980;
finalDepth = 910.375059;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.632932
#   Actual altitude:          52.632932
#   Commanded vehicle depth:  910.375059 
#   Seafloor depth:           -963.007991
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.517969 meters
#   Minimum depth: 959.870980 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.876246 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.870980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379738;
longitude = -121.523029;
duration = 410;
initialDepth = 909.870980;
finalDepth = 909.870980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.632932
#   Actual altitude:          52.632932
#   Commanded vehicle depth:  909.87098 
#   Seafloor depth:           -960.053669
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.517753 meters
#   Minimum depth: 959.870980 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.667461 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.870980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380544;
longitude = -121.522478;
duration = 410;
initialDepth = 908.978596;
finalDepth = 909.870980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.772785
#   Actual altitude:          52.772785
#   Commanded vehicle depth:  909.87098 
#   Seafloor depth:           -962.643765
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.517536 meters
#   Minimum depth: 958.978596 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.667461 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.978596 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381351;
longitude = -121.521927;
duration = 410;
initialDepth = 906.943428;
finalDepth = 908.978596;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.458365
#   Actual altitude:          59.458365
#   Commanded vehicle depth:  908.978596 
#   Seafloor depth:           -968.436961
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.517320 meters
#   Minimum depth: 956.943428 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.485819 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.943428 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382157;
longitude = -121.521376;
duration = 410;
initialDepth = 906.943428;
finalDepth = 906.943428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.458365
#   Actual altitude:          59.458365
#   Commanded vehicle depth:  906.943428 
#   Seafloor depth:           -957.988620
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.517104 meters
#   Minimum depth: 956.943428 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.535865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.943428 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382964;
longitude = -121.520825;
duration = 410;
initialDepth = 903.284375;
finalDepth = 906.943428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.524779
#   Actual altitude:          52.524779
#   Commanded vehicle depth:  906.943428 
#   Seafloor depth:           -959.468207
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.516887 meters
#   Minimum depth: 953.284375 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.535865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.284375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383770;
longitude = -121.520274;
duration = 410;
initialDepth = 897.293140;
finalDepth = 903.284375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0002020000001
#   Actual altitude:          56.0002020000001
#   Commanded vehicle depth:  903.284375 
#   Seafloor depth:           -959.284577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.516672 meters
#   Minimum depth: 947.293140 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.648421 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.293140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384577;
longitude = -121.519723;
duration = 410;
initialDepth = 897.223539;
finalDepth = 897.293140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0002020000001
#   Actual altitude:          56.0002020000001
#   Commanded vehicle depth:  897.29314 
#   Seafloor depth:           -952.859757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.516454 meters
#   Minimum depth: 947.223539 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.787975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.223539 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385383;
longitude = -121.519172;
duration = 410;
initialDepth = 897.272553;
finalDepth = 897.223539;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.566617
#   Actual altitude:          55.566617
#   Commanded vehicle depth:  897.223539 
#   Seafloor depth:           -947.223539
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.580353 meters
#   Minimum depth: 947.272553 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.301909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.272553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386190;
longitude = -121.518620;
duration = 410;
initialDepth = 897.686729;
finalDepth = 897.272553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.713796
#   Actual altitude:          51.713796
#   Commanded vehicle depth:  897.272553 
#   Seafloor depth:           -948.986349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.066208 meters
#   Minimum depth: 947.686729 meters looking forward 200.000000 meters along route
#   Maximum depth: 957.304890 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.686729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386997;
longitude = -121.518069;
duration = 420;
initialDepth = 892.446499;
finalDepth = 897.686729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.618161
#   Actual altitude:          59.618161
#   Commanded vehicle depth:  897.686729 
#   Seafloor depth:           -957.304890
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.065980 meters
#   Minimum depth: 942.446499 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.245889 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.446499 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387823;
longitude = -121.517504;
duration = 420;
initialDepth = 889.804193;
finalDepth = 892.446499;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.618161
#   Actual altitude:          59.618161
#   Commanded vehicle depth:  892.446499 
#   Seafloor depth:           -947.492123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.065754 meters
#   Minimum depth: 939.804193 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.815708 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.804193 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388650;
longitude = -121.516940;
duration = 420;
initialDepth = 887.410854;
finalDepth = 889.804193;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.045624
#   Actual altitude:          55.045624
#   Commanded vehicle depth:  889.804193 
#   Seafloor depth:           -942.318909
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.065526 meters
#   Minimum depth: 937.410854 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.322481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.410854 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389477;
longitude = -121.516375;
duration = 420;
initialDepth = 886.855015;
finalDepth = 887.410854;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5147159999999
#   Actual altitude:          52.5147159999999
#   Commanded vehicle depth:  887.410854 
#   Seafloor depth:           -939.659140
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.065299 meters
#   Minimum depth: 936.855015 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.563401 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.855015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390303;
longitude = -121.515810;
duration = 420;
initialDepth = 885.590457;
finalDepth = 886.855015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.248286
#   Actual altitude:          52.248286
#   Commanded vehicle depth:  886.855015 
#   Seafloor depth:           -938.439693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.065072 meters
#   Minimum depth: 935.590457 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.434839 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.590457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391130;
longitude = -121.515245;
duration = 420;
initialDepth = 883.934568;
finalDepth = 885.590457;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5846780000001
#   Actual altitude:          51.5846780000001
#   Commanded vehicle depth:  885.590457 
#   Seafloor depth:           -936.759638
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 105.064845 meters
#   Minimum depth: 933.934568 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.790736 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.934568 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391956;
longitude = -121.514681;
duration = 420;
initialDepth = 882.053940;
finalDepth = 883.934568;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4251419999999
#   Actual altitude:          51.4251419999999
#   Commanded vehicle depth:  883.934568 
#   Seafloor depth:           -935.359710
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 24
#   Segment length 102.095461 meters
#   Minimum depth: 932.053940 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.010468 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.053940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392783;
longitude = -121.514116;
duration = 408;
initialDepth = 881.791811;
finalDepth = 882.053940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.541968
#   Actual altitude:          51.541968
#   Commanded vehicle depth:  882.05394 
#   Seafloor depth:           -933.595908
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 150.107498 meters
#   Minimum depth: 931.791811 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.841944 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.791811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.393586;
longitude = -121.513567;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 883.723849;
finalDepth = 881.791811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.541968
#   Actual altitude:          51.541968
#   Commanded vehicle depth:  881.791811 
#   Seafloor depth:           -931.982819
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 159.298661 meters
#   Minimum depth: 933.723849 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.420799 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.723849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.394247;
longitude = -121.515009;
duration = 637;
# abortOnTimeout    = True; 
initialDepth = 885.452046;
finalDepth = 883.723849;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.413587
#   Actual altitude:          50.413587
#   Commanded vehicle depth:  883.723849 
#   Seafloor depth:           -934.137436
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.520389 meters
#   Minimum depth: 935.452046 meters looking forward 200.000000 meters along route
#   Maximum depth: 941.045896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.452046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392994;
longitude = -121.515865;
duration = 410;
initialDepth = 888.667833;
finalDepth = 885.452046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.197601
#   Actual altitude:          52.197601
#   Commanded vehicle depth:  885.452046 
#   Seafloor depth:           -937.649647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.520606 meters
#   Minimum depth: 938.667833 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.466433 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.667833 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392187;
longitude = -121.516416;
duration = 410;
initialDepth = 890.555150;
finalDepth = 888.667833;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.50591
#   Actual altitude:          52.50591
#   Commanded vehicle depth:  888.667833 
#   Seafloor depth:           -941.173743
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.520822 meters
#   Minimum depth: 940.555150 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.466433 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.555150 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391381;
longitude = -121.516967;
duration = 410;
initialDepth = 890.552330;
finalDepth = 890.555150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.50591
#   Actual altitude:          52.50591
#   Commanded vehicle depth:  890.55515 
#   Seafloor depth:           -941.545641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 104.482490 meters
#   Minimum depth: 940.552330 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.902973 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.552330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390574;
longitude = -121.517518;
duration = 417;
initialDepth = 891.357537;
finalDepth = 890.552330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.990491
#   Actual altitude:          50.990491
#   Commanded vehicle depth:  890.55233 
#   Seafloor depth:           -940.552330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 100.559803 meters
#   Minimum depth: 941.357537 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.392886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.357537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389752;
longitude = -121.518080;
duration = 402;
initialDepth = 894.052436;
finalDepth = 891.357537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.600777
#   Actual altitude:          51.600777
#   Commanded vehicle depth:  891.357537 
#   Seafloor depth:           -942.958314
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.521471 meters
#   Minimum depth: 944.052436 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.874432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 894.052436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388961;
longitude = -121.518620;
duration = 410;
initialDepth = 895.107530;
finalDepth = 894.052436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.600777
#   Actual altitude:          51.600777
#   Commanded vehicle depth:  894.052436 
#   Seafloor depth:           -944.052436
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.521687 meters
#   Minimum depth: 945.107530 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.640033 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 895.107530 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388154;
longitude = -121.519172;
duration = 410;
initialDepth = 896.026922;
finalDepth = 895.107530;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.848934
#   Actual altitude:          50.848934
#   Commanded vehicle depth:  895.10753 
#   Seafloor depth:           -945.956464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.521903 meters
#   Minimum depth: 946.026922 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.640033 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.026922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387348;
longitude = -121.519723;
duration = 410;
initialDepth = 896.834915;
finalDepth = 896.026922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.953186
#   Actual altitude:          50.953186
#   Commanded vehicle depth:  896.026922 
#   Seafloor depth:           -946.980108
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.522120 meters
#   Minimum depth: 946.834915 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.706899 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 896.834915 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386541;
longitude = -121.520274;
duration = 410;
initialDepth = 898.129741;
finalDepth = 896.834915;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1137179999999
#   Actual altitude:          51.1137179999999
#   Commanded vehicle depth:  896.834915 
#   Seafloor depth:           -947.948633
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.522336 meters
#   Minimum depth: 948.129741 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.507700 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 898.129741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385735;
longitude = -121.520825;
duration = 410;
initialDepth = 901.722536;
finalDepth = 898.129741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.37314
#   Actual altitude:          53.37314
#   Commanded vehicle depth:  898.129741 
#   Seafloor depth:           -951.502881
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.522553 meters
#   Minimum depth: 951.722536 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.925614 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.722536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384928;
longitude = -121.521376;
duration = 410;
initialDepth = 903.789679;
finalDepth = 901.722536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.37314
#   Actual altitude:          53.37314
#   Commanded vehicle depth:  901.722536 
#   Seafloor depth:           -953.925706
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.522768 meters
#   Minimum depth: 953.789679 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.405633 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.789679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384122;
longitude = -121.521927;
duration = 410;
initialDepth = 904.544926;
finalDepth = 903.789679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.20317
#   Actual altitude:          52.20317
#   Commanded vehicle depth:  903.789679 
#   Seafloor depth:           -955.052446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.522986 meters
#   Minimum depth: 954.544926 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.845444 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.544926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383315;
longitude = -121.522478;
duration = 410;
initialDepth = 904.922208;
finalDepth = 904.544926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2627670000001
#   Actual altitude:          51.2627670000001
#   Commanded vehicle depth:  904.544926 
#   Seafloor depth:           -954.811285
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.523201 meters
#   Minimum depth: 954.922208 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.895989 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.922208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382508;
longitude = -121.523029;
duration = 410;
initialDepth = 907.373926;
finalDepth = 904.922208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.420347
#   Actual altitude:          51.420347
#   Commanded vehicle depth:  904.922208 
#   Seafloor depth:           -956.342555
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.523418 meters
#   Minimum depth: 957.373926 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.490970 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.373926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381702;
longitude = -121.523580;
duration = 410;
initialDepth = 909.875797;
finalDepth = 907.373926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.712408
#   Actual altitude:          52.712408
#   Commanded vehicle depth:  907.373926 
#   Seafloor depth:           -960.086334
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.523634 meters
#   Minimum depth: 959.875797 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.333893 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.875797 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380895;
longitude = -121.524131;
duration = 410;
initialDepth = 911.551108;
finalDepth = 909.875797;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.712408
#   Actual altitude:          52.712408
#   Commanded vehicle depth:  909.875797 
#   Seafloor depth:           -960.636600
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.523850 meters
#   Minimum depth: 961.551108 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.346372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 911.551108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380089;
longitude = -121.524682;
duration = 410;
initialDepth = 919.520527;
finalDepth = 911.551108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.989467
#   Actual altitude:          54.989467
#   Commanded vehicle depth:  911.551108 
#   Seafloor depth:           -966.540575
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.524067 meters
#   Minimum depth: 969.520527 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.346372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.520527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379282;
longitude = -121.525233;
duration = 410;
initialDepth = 919.433849;
finalDepth = 919.520527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.989467
#   Actual altitude:          54.989467
#   Commanded vehicle depth:  919.520527 
#   Seafloor depth:           -974.346130
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.524283 meters
#   Minimum depth: 969.433849 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.265198 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.433849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378476;
longitude = -121.525784;
duration = 410;
initialDepth = 921.801702;
finalDepth = 919.433849;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.825603
#   Actual altitude:          54.825603
#   Commanded vehicle depth:  919.433849 
#   Seafloor depth:           -969.433849
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.524499 meters
#   Minimum depth: 971.801702 meters looking forward 200.000000 meters along route
#   Maximum depth: 981.053175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 921.801702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377669;
longitude = -121.526335;
duration = 410;
initialDepth = 926.424153;
finalDepth = 921.801702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.663602
#   Actual altitude:          54.663602
#   Commanded vehicle depth:  921.801702 
#   Seafloor depth:           -976.465304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.524716 meters
#   Minimum depth: 976.424153 meters looking forward 200.000000 meters along route
#   Maximum depth: 981.053175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 926.424153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376862;
longitude = -121.526886;
duration = 410;
initialDepth = 922.737244;
finalDepth = 926.424153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.663602
#   Actual altitude:          54.663602
#   Commanded vehicle depth:  926.424153 
#   Seafloor depth:           -980.108424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.524932 meters
#   Minimum depth: 972.737244 meters looking forward 200.000000 meters along route
#   Maximum depth: 979.700346 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 922.737244 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376056;
longitude = -121.527437;
duration = 410;
initialDepth = 921.664428;
finalDepth = 922.737244;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.684271
#   Actual altitude:          53.684271
#   Commanded vehicle depth:  922.737244 
#   Seafloor depth:           -975.496801
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.525149 meters
#   Minimum depth: 971.664428 meters looking forward 200.000000 meters along route
#   Maximum depth: 975.124344 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 921.664428 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375249;
longitude = -121.527988;
duration = 410;
initialDepth = 921.421130;
finalDepth = 921.664428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.759557
#   Actual altitude:          52.759557
#   Commanded vehicle depth:  921.664428 
#   Seafloor depth:           -972.800196
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.525365 meters
#   Minimum depth: 971.421130 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.416738 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 921.421130 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374443;
longitude = -121.528539;
duration = 410;
initialDepth = 921.421130;
finalDepth = 921.421130;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.135768
#   Actual altitude:          51.135768
#   Commanded vehicle depth:  921.42113 
#   Seafloor depth:           -971.706997
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.525581 meters
#   Minimum depth: 971.421130 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.416738 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 921.421130 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373636;
longitude = -121.529090;
duration = 410;
initialDepth = 921.608624;
finalDepth = 921.421130;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.303481
#   Actual altitude:          52.303481
#   Commanded vehicle depth:  921.42113 
#   Seafloor depth:           -973.724611
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.525797 meters
#   Minimum depth: 971.608624 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.508437 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 921.608624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372830;
longitude = -121.529641;
duration = 410;
initialDepth = 916.673662;
finalDepth = 921.608624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.303481
#   Actual altitude:          52.303481
#   Commanded vehicle depth:  921.608624 
#   Seafloor depth:           -972.071056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.526014 meters
#   Minimum depth: 966.673662 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.961354 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.673662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372023;
longitude = -121.530192;
duration = 410;
initialDepth = 916.502615;
finalDepth = 916.673662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.287692
#   Actual altitude:          55.287692
#   Commanded vehicle depth:  916.673662 
#   Seafloor depth:           -971.961354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.526231 meters
#   Minimum depth: 966.502615 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.543087 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.502615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371216;
longitude = -121.530743;
duration = 410;
initialDepth = 916.502615;
finalDepth = 916.502615;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.287692
#   Actual altitude:          55.287692
#   Commanded vehicle depth:  916.502615 
#   Seafloor depth:           -966.914584
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.526446 meters
#   Minimum depth: 966.502615 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.544542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.502615 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370410;
longitude = -121.531295;
duration = 410;
initialDepth = 916.412538;
finalDepth = 916.502615;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.58407
#   Actual altitude:          50.58407
#   Commanded vehicle depth:  916.502615 
#   Seafloor depth:           -967.086685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 102.526663 meters
#   Minimum depth: 966.412538 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.544542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.412538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369603;
longitude = -121.531846;
duration = 410;
initialDepth = 909.390028;
finalDepth = 916.412538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6120129999999
#   Actual altitude:          52.6120129999999
#   Commanded vehicle depth:  916.412538 
#   Seafloor depth:           -969.024551
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 103.093096 meters
#   Minimum depth: 959.390028 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.221500 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.390028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368797;
longitude = -121.532397;
duration = 412;
initialDepth = 908.683404;
finalDepth = 909.390028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.8989809999999
#   Actual altitude:          56.8989809999999
#   Commanded vehicle depth:  909.390028 
#   Seafloor depth:           -966.289009
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.069735 meters
#   Minimum depth: 958.683404 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.327488 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.683404 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367986;
longitude = -121.532951;
duration = 420;
initialDepth = 907.320163;
finalDepth = 908.683404;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.644084
#   Actual altitude:          65.644084
#   Commanded vehicle depth:  908.683404 
#   Seafloor depth:           -974.327488
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 19.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.069961 meters
#   Minimum depth: 957.320163 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.742115 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.320163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367159;
longitude = -121.533515;
duration = 420;
initialDepth = 917.314416;
finalDepth = 907.320163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.644084
#   Actual altitude:          65.644084
#   Commanded vehicle depth:  907.320163 
#   Seafloor depth:           -957.320163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 19.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.070189 meters
#   Minimum depth: 967.314416 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.742115 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 917.314416 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366333;
longitude = -121.534080;
duration = 420;
initialDepth = 915.287220;
finalDepth = 917.314416;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2924559999999
#   Actual altitude:          51.2924559999999
#   Commanded vehicle depth:  917.314416 
#   Seafloor depth:           -968.606872
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.070417 meters
#   Minimum depth: 965.287220 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.516218 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.287220 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365506;
longitude = -121.534645;
duration = 420;
initialDepth = 912.380931;
finalDepth = 915.287220;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.068045
#   Actual altitude:          52.068045
#   Commanded vehicle depth:  915.28722 
#   Seafloor depth:           -967.355265
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.070643 meters
#   Minimum depth: 962.380931 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.880306 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.380931 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364679;
longitude = -121.535210;
duration = 420;
initialDepth = 912.059822;
finalDepth = 912.380931;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.705284
#   Actual altitude:          52.705284
#   Commanded vehicle depth:  912.380931 
#   Seafloor depth:           -965.086215
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.070871 meters
#   Minimum depth: 962.059822 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.946365 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.059822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363853;
longitude = -121.535774;
duration = 420;
initialDepth = 912.404882;
finalDepth = 912.059822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.705284
#   Actual altitude:          52.705284
#   Commanded vehicle depth:  912.059822 
#   Seafloor depth:           -962.059822
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 105.071098 meters
#   Minimum depth: 962.404882 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.946365 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 912.404882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363026;
longitude = -121.536339;
duration = 420;
initialDepth = 909.106963;
finalDepth = 912.404882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9088009999999
#   Actual altitude:          51.9088009999999
#   Commanded vehicle depth:  912.404882 
#   Seafloor depth:           -964.313683
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 22
#   Segment length 129.372583 meters
#   Minimum depth: 959.106963 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.261414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.106963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362200;
longitude = -121.536904;
duration = 517;
initialDepth = 909.106963;
finalDepth = 909.106963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.7515020000001
#   Actual altitude:          52.7515020000001
#   Commanded vehicle depth:  909.106963 
#   Seafloor depth:           -961.858465
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 21
#   Segment length 149.939194 meters
#   Minimum depth: 959.106963 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.255174 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.106963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361182;
longitude = -121.537599;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 914.993127;
finalDepth = 909.106963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.7515020000001
#   Actual altitude:          52.7515020000001
#   Commanded vehicle depth:  909.106963 
#   Seafloor depth:           -960.083603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 159.349985 meters
#   Minimum depth: 964.993127 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.589624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 914.993127 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361842;
longitude = -121.539039;
duration = 637;
# abortOnTimeout    = True; 
initialDepth = 916.743042;
finalDepth = 914.993127;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.040351
#   Actual altitude:          51.040351
#   Commanded vehicle depth:  914.993127 
#   Seafloor depth:           -966.033478
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.531591 meters
#   Minimum depth: 966.743042 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.589624 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.743042 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363096;
longitude = -121.538183;
duration = 410;
initialDepth = 917.679914;
finalDepth = 916.743042;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.65377
#   Actual altitude:          51.65377
#   Commanded vehicle depth:  916.743042 
#   Seafloor depth:           -968.396812
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.531375 meters
#   Minimum depth: 967.679914 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.565004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 917.679914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363902;
longitude = -121.537632;
duration = 410;
initialDepth = 917.925420;
finalDepth = 917.679914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.65377
#   Actual altitude:          51.65377
#   Commanded vehicle depth:  917.679914 
#   Seafloor depth:           -967.751325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.531158 meters
#   Minimum depth: 967.925420 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.252955 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 917.925420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364709;
longitude = -121.537080;
duration = 410;
initialDepth = 918.720786;
finalDepth = 917.925420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7313789999999
#   Actual altitude:          50.7313789999999
#   Commanded vehicle depth:  917.92542 
#   Seafloor depth:           -968.656799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 103.877772 meters
#   Minimum depth: 968.720786 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.196795 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.720786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365515;
longitude = -121.536529;
duration = 415;
initialDepth = 919.960432;
finalDepth = 918.720786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7313789999999
#   Actual altitude:          50.7313789999999
#   Commanded vehicle depth:  918.720786 
#   Seafloor depth:           -968.720786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 101.183896 meters
#   Minimum depth: 969.960432 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.345055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.960432 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366333;
longitude = -121.535971;
duration = 404;
initialDepth = 922.439533;
finalDepth = 919.960432;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2537040000001
#   Actual altitude:          51.2537040000001
#   Commanded vehicle depth:  919.960432 
#   Seafloor depth:           -971.214136
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.530509 meters
#   Minimum depth: 972.439533 meters looking forward 200.000000 meters along route
#   Maximum depth: 976.222988 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 922.439533 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367129;
longitude = -121.535427;
duration = 410;
initialDepth = 922.170296;
finalDepth = 922.439533;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2537040000001
#   Actual altitude:          51.2537040000001
#   Commanded vehicle depth:  922.439533 
#   Seafloor depth:           -972.630834
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.530292 meters
#   Minimum depth: 972.170296 meters looking forward 200.000000 meters along route
#   Maximum depth: 976.605405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 922.170296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367935;
longitude = -121.534876;
duration = 410;
initialDepth = 916.283613;
finalDepth = 922.170296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.416669
#   Actual altitude:          53.416669
#   Commanded vehicle depth:  922.170296 
#   Seafloor depth:           -975.586965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.530077 meters
#   Minimum depth: 966.283613 meters looking forward 200.000000 meters along route
#   Maximum depth: 976.605405 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.283613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368742;
longitude = -121.534325;
duration = 410;
initialDepth = 914.346080;
finalDepth = 916.283613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.352295
#   Actual altitude:          58.352295
#   Commanded vehicle depth:  916.283613 
#   Seafloor depth:           -974.635908
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.529859 meters
#   Minimum depth: 964.346080 meters looking forward 200.000000 meters along route
#   Maximum depth: 975.900474 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 914.346080 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369548;
longitude = -121.533774;
duration = 410;
initialDepth = 913.609666;
finalDepth = 914.346080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.352295
#   Actual altitude:          58.352295
#   Commanded vehicle depth:  914.34608 
#   Seafloor depth:           -966.327843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.529644 meters
#   Minimum depth: 963.609666 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.782245 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.609666 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370355;
longitude = -121.533223;
duration = 410;
initialDepth = 914.229648;
finalDepth = 913.609666;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.981763
#   Actual altitude:          51.981763
#   Commanded vehicle depth:  913.609666 
#   Seafloor depth:           -963.609666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.529427 meters
#   Minimum depth: 964.229648 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.082366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 914.229648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371162;
longitude = -121.532672;
duration = 410;
initialDepth = 919.158505;
finalDepth = 914.229648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.801789
#   Actual altitude:          54.801789
#   Commanded vehicle depth:  914.229648 
#   Seafloor depth:           -969.031437
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.529211 meters
#   Minimum depth: 969.158505 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.950698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.158505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371968;
longitude = -121.532121;
duration = 410;
initialDepth = 919.158505;
finalDepth = 919.158505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.801789
#   Actual altitude:          54.801789
#   Commanded vehicle depth:  919.158505 
#   Seafloor depth:           -969.791888
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.528994 meters
#   Minimum depth: 969.158505 meters looking forward 200.000000 meters along route
#   Maximum depth: 975.609295 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.158505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372775;
longitude = -121.531570;
duration = 410;
initialDepth = 922.757241;
finalDepth = 919.158505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9827750000001
#   Actual altitude:          54.9827750000001
#   Commanded vehicle depth:  919.158505 
#   Seafloor depth:           -974.141280
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.528778 meters
#   Minimum depth: 972.757241 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.185591 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 922.757241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373581;
longitude = -121.531019;
duration = 410;
initialDepth = 923.565852;
finalDepth = 922.757241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9827750000001
#   Actual altitude:          54.9827750000001
#   Commanded vehicle depth:  922.757241 
#   Seafloor depth:           -975.783502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.528562 meters
#   Minimum depth: 973.565852 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.185591 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 923.565852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374388;
longitude = -121.530468;
duration = 410;
initialDepth = 923.306325;
finalDepth = 923.565852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.026261
#   Actual altitude:          53.026261
#   Commanded vehicle depth:  923.565852 
#   Seafloor depth:           -975.103967
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.528345 meters
#   Minimum depth: 973.306325 meters looking forward 200.000000 meters along route
#   Maximum depth: 975.406885 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 923.306325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375195;
longitude = -121.529917;
duration = 410;
initialDepth = 923.306325;
finalDepth = 923.306325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5381150000001
#   Actual altitude:          51.5381150000001
#   Commanded vehicle depth:  923.306325 
#   Seafloor depth:           -973.604929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.528129 meters
#   Minimum depth: 973.306325 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.276485 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 923.306325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376001;
longitude = -121.529366;
duration = 410;
initialDepth = 926.732851;
finalDepth = 923.306325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.177769
#   Actual altitude:          52.177769
#   Commanded vehicle depth:  923.306325 
#   Seafloor depth:           -975.484094
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 104.384783 meters
#   Minimum depth: 976.732851 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.577649 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 926.732851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376808;
longitude = -121.528815;
duration = 417;
initialDepth = 926.428501;
finalDepth = 926.732851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.177769
#   Actual altitude:          52.177769
#   Commanded vehicle depth:  926.732851 
#   Seafloor depth:           -977.266713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 100.670825 meters
#   Minimum depth: 976.428501 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.582921 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 926.428501 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377629;
longitude = -121.528254;
duration = 402;
initialDepth = 919.655275;
finalDepth = 926.428501;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1544200000001
#   Actual altitude:          51.1544200000001
#   Commanded vehicle depth:  926.428501 
#   Seafloor depth:           -977.582921
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.527480 meters
#   Minimum depth: 969.655275 meters looking forward 200.000000 meters along route
#   Maximum depth: 977.383389 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.655275 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378421;
longitude = -121.527713;
duration = 410;
initialDepth = 915.926893;
finalDepth = 919.655275;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.3069690000001
#   Actual altitude:          55.3069690000001
#   Commanded vehicle depth:  919.655275 
#   Seafloor depth:           -974.962244
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.527264 meters
#   Minimum depth: 965.926893 meters looking forward 200.000000 meters along route
#   Maximum depth: 972.329425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.926893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379228;
longitude = -121.527162;
duration = 410;
initialDepth = 913.534504;
finalDepth = 915.926893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.3069690000001
#   Actual altitude:          55.3069690000001
#   Commanded vehicle depth:  915.926893 
#   Seafloor depth:           -968.253220
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.527047 meters
#   Minimum depth: 963.534504 meters looking forward 200.000000 meters along route
#   Maximum depth: 967.844625 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.534504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380034;
longitude = -121.526611;
duration = 410;
initialDepth = 910.228340;
finalDepth = 913.534504;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3263270000001
#   Actual altitude:          52.3263270000001
#   Commanded vehicle depth:  913.534504 
#   Seafloor depth:           -965.611189
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.526830 meters
#   Minimum depth: 960.228340 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.474661 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 910.228340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380841;
longitude = -121.526060;
duration = 410;
initialDepth = 909.841156;
finalDepth = 910.228340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.534527
#   Actual altitude:          52.534527
#   Commanded vehicle depth:  910.22834 
#   Seafloor depth:           -962.762867
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.526615 meters
#   Minimum depth: 959.841156 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.267169 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.841156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381647;
longitude = -121.525509;
duration = 410;
initialDepth = 908.065923;
finalDepth = 909.841156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.534527
#   Actual altitude:          52.534527
#   Commanded vehicle depth:  909.841156 
#   Seafloor depth:           -959.940742
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.526398 meters
#   Minimum depth: 958.065923 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.729766 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.065923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382454;
longitude = -121.524957;
duration = 410;
initialDepth = 906.745481;
finalDepth = 908.065923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.236834
#   Actual altitude:          52.236834
#   Commanded vehicle depth:  908.065923 
#   Seafloor depth:           -960.302757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.526181 meters
#   Minimum depth: 956.745481 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.719674 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.745481 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383261;
longitude = -121.524406;
duration = 410;
initialDepth = 905.466436;
finalDepth = 906.745481;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.236834
#   Actual altitude:          52.236834
#   Commanded vehicle depth:  906.745481 
#   Seafloor depth:           -957.880547
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.525966 meters
#   Minimum depth: 955.466436 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.188777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.466436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384067;
longitude = -121.523855;
duration = 410;
initialDepth = 904.938853;
finalDepth = 905.466436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2923579999999
#   Actual altitude:          51.2923579999999
#   Commanded vehicle depth:  905.466436 
#   Seafloor depth:           -956.758794
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.525749 meters
#   Minimum depth: 954.938853 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.445283 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.938853 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384874;
longitude = -121.523304;
duration = 410;
initialDepth = 902.020845;
finalDepth = 904.938853;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2923579999999
#   Actual altitude:          51.2923579999999
#   Commanded vehicle depth:  904.938853 
#   Seafloor depth:           -955.458011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.525532 meters
#   Minimum depth: 952.020845 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.469975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.020845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385680;
longitude = -121.522753;
duration = 410;
initialDepth = 901.057329;
finalDepth = 902.020845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.674806
#   Actual altitude:          52.674806
#   Commanded vehicle depth:  902.020845 
#   Seafloor depth:           -954.695651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.525317 meters
#   Minimum depth: 951.057329 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.895501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 901.057329 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386487;
longitude = -121.522202;
duration = 410;
initialDepth = 900.004909;
finalDepth = 901.057329;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.674806
#   Actual altitude:          52.674806
#   Commanded vehicle depth:  901.057329 
#   Seafloor depth:           -952.037715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 102.525100 meters
#   Minimum depth: 950.004909 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.259576 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.004909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387294;
longitude = -121.521651;
duration = 410;
initialDepth = 897.652894;
finalDepth = 900.004909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.122119
#   Actual altitude:          51.122119
#   Commanded vehicle depth:  900.004909 
#   Seafloor depth:           -951.127028
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 104.891765 meters
#   Minimum depth: 947.652894 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.418551 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.652894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388100;
longitude = -121.521100;
duration = 419;
initialDepth = 897.652894;
finalDepth = 897.652894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.347071
#   Actual altitude:          52.347071
#   Commanded vehicle depth:  897.652894 
#   Seafloor depth:           -949.999965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.062583 meters
#   Minimum depth: 947.652894 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.514155 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.652894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388925;
longitude = -121.520536;
duration = 420;
initialDepth = 893.917819;
finalDepth = 897.652894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.347071
#   Actual altitude:          52.347071
#   Commanded vehicle depth:  897.652894 
#   Seafloor depth:           -949.114481
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.062356 meters
#   Minimum depth: 943.917819 meters looking forward 200.000000 meters along route
#   Maximum depth: 952.514155 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.917819 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389752;
longitude = -121.519972;
duration = 420;
initialDepth = 892.727283;
finalDepth = 893.917819;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.13832
#   Actual altitude:          55.13832
#   Commanded vehicle depth:  893.917819 
#   Seafloor depth:           -949.056139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.062128 meters
#   Minimum depth: 942.727283 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.578634 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.727283 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390579;
longitude = -121.519407;
duration = 420;
initialDepth = 892.727283;
finalDepth = 892.727283;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.13832
#   Actual altitude:          55.13832
#   Commanded vehicle depth:  892.727283 
#   Seafloor depth:           -943.721774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.061902 meters
#   Minimum depth: 942.727283 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.552508 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.727283 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391405;
longitude = -121.518842;
duration = 420;
initialDepth = 893.050345;
finalDepth = 892.727283;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9944909999999
#   Actual altitude:          50.9944909999999
#   Commanded vehicle depth:  892.727283 
#   Seafloor depth:           -942.826577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.061674 meters
#   Minimum depth: 943.050345 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.107701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.050345 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392232;
longitude = -121.518278;
duration = 420;
initialDepth = 888.814849;
finalDepth = 893.050345;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2053540000001
#   Actual altitude:          52.2053540000001
#   Commanded vehicle depth:  893.050345 
#   Seafloor depth:           -945.255699
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 105.061447 meters
#   Minimum depth: 938.814849 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.107701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.814849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.393058;
longitude = -121.517713;
duration = 420;
initialDepth = 886.985399;
finalDepth = 888.814849;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.297226
#   Actual altitude:          53.297226
#   Commanded vehicle depth:  888.814849 
#   Seafloor depth:           -942.112075
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 20
#   Segment length 129.916487 meters
#   Minimum depth: 936.985399 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.794431 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.985399 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.393885;
longitude = -121.517148;
duration = 519;
initialDepth = 886.981277;
finalDepth = 886.985399;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.297226
#   Actual altitude:          53.297226
#   Commanded vehicle depth:  886.985399 
#   Seafloor depth:           -938.415374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 19
#   Segment length 106.938689 meters
#   Minimum depth: 936.981277 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.697955 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.981277 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.394907;
longitude = -121.516450;
duration = 427;
# abortOnTimeout    = True; 
initialDepth = 887.236662;
finalDepth = 886.981277;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.429975
#   Actual altitude:          51.429975
#   Commanded vehicle depth:  886.981277 
#   Seafloor depth:           -936.981277
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 110.314651 meters
#   Minimum depth: 937.236662 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.454813 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.236662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.394502;
longitude = -121.517518;
duration = 441;
initialDepth = 889.521881;
finalDepth = 887.236662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.885644
#   Actual altitude:          51.885644
#   Commanded vehicle depth:  887.236662 
#   Seafloor depth:           -939.122306
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.151027 meters
#   Minimum depth: 939.521881 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.818714 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 889.521881 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.394084;
longitude = -121.518620;
duration = 404;
initialDepth = 891.309407;
finalDepth = 889.521881;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.2356559999999
#   Actual altitude:          53.2356559999999
#   Commanded vehicle depth:  889.521881 
#   Seafloor depth:           -942.757537
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 122.338731 meters
#   Minimum depth: 941.309407 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.818714 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.309407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.393701;
longitude = -121.519631;
duration = 489;
# abortOnTimeout    = True; 
initialDepth = 891.309407;
finalDepth = 891.309407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2356559999999
#   Actual altitude:          53.2356559999999
#   Commanded vehicle depth:  891.309407 
#   Seafloor depth:           -943.916870
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.067226 meters
#   Minimum depth: 941.309407 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.662055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.309407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392972;
longitude = -121.518620;
duration = 400;
initialDepth = 892.332380;
finalDepth = 891.309407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6074630000001
#   Actual altitude:          52.6074630000001
#   Commanded vehicle depth:  891.309407 
#   Seafloor depth:           -941.713065
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.067661 meters
#   Minimum depth: 942.332380 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.990895 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 892.332380 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.392376;
longitude = -121.517794;
duration = 400;
initialDepth = 890.178274;
finalDepth = 892.332380;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.2447350000001
#   Actual altitude:          56.2447350000001
#   Commanded vehicle depth:  892.33238 
#   Seafloor depth:           -948.577115
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.068098 meters
#   Minimum depth: 940.178274 meters looking forward 200.000000 meters along route
#   Maximum depth: 948.990895 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.178274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391779;
longitude = -121.516967;
duration = 400;
initialDepth = 887.526259;
finalDepth = 890.178274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.2447350000001
#   Actual altitude:          56.2447350000001
#   Commanded vehicle depth:  890.178274 
#   Seafloor depth:           -943.759019
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.068533 meters
#   Minimum depth: 937.526259 meters looking forward 200.000000 meters along route
#   Maximum depth: 942.652052 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.526259 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.391183;
longitude = -121.516141;
duration = 400;
initialDepth = 885.082735;
finalDepth = 887.526259;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.580745
#   Actual altitude:          53.580745
#   Commanded vehicle depth:  887.526259 
#   Seafloor depth:           -939.989831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.068968 meters
#   Minimum depth: 935.082735 meters looking forward 200.000000 meters along route
#   Maximum depth: 939.687286 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.082735 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.390586;
longitude = -121.515314;
duration = 400;
initialDepth = 885.031014;
finalDepth = 885.082735;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.463572
#   Actual altitude:          52.463572
#   Commanded vehicle depth:  885.082735 
#   Seafloor depth:           -936.666591
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.069405 meters
#   Minimum depth: 935.031014 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.637739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.031014 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389990;
longitude = -121.514488;
duration = 400;
initialDepth = 885.170116;
finalDepth = 885.031014;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5838560000001
#   Actual altitude:          51.5838560000001
#   Commanded vehicle depth:  885.031014 
#   Seafloor depth:           -935.031014
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.069840 meters
#   Minimum depth: 935.170116 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.628866 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.170116 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.389394;
longitude = -121.513661;
duration = 400;
initialDepth = 885.012128;
finalDepth = 885.170116;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2605159999999
#   Actual altitude:          50.2605159999999
#   Commanded vehicle depth:  885.170116 
#   Seafloor depth:           -935.430632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.070276 meters
#   Minimum depth: 935.012128 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.628866 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.012128 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388797;
longitude = -121.512834;
duration = 400;
initialDepth = 882.488423;
finalDepth = 885.012128;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.433521
#   Actual altitude:          50.433521
#   Commanded vehicle depth:  885.012128 
#   Seafloor depth:           -935.445649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.070711 meters
#   Minimum depth: 932.488423 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.494625 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.488423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.388201;
longitude = -121.512008;
duration = 400;
initialDepth = 881.710384;
finalDepth = 882.488423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3240509999999
#   Actual altitude:          51.3240509999999
#   Commanded vehicle depth:  882.488423 
#   Seafloor depth:           -933.812474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.071148 meters
#   Minimum depth: 931.710384 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.197758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.710384 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387605;
longitude = -121.511181;
duration = 400;
initialDepth = 881.316024;
finalDepth = 881.710384;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3240509999999
#   Actual altitude:          51.3240509999999
#   Commanded vehicle depth:  881.710384 
#   Seafloor depth:           -931.710384
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.071583 meters
#   Minimum depth: 931.316024 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.900699 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.316024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.387008;
longitude = -121.510355;
duration = 400;
initialDepth = 881.316024;
finalDepth = 881.316024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.042415
#   Actual altitude:          50.042415
#   Commanded vehicle depth:  881.316024 
#   Seafloor depth:           -931.358439
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.072019 meters
#   Minimum depth: 931.316024 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.799678 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.316024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.386412;
longitude = -121.509528;
duration = 400;
initialDepth = 881.916018;
finalDepth = 881.316024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.967121
#   Actual altitude:          50.967121
#   Commanded vehicle depth:  881.316024 
#   Seafloor depth:           -932.283145
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.072454 meters
#   Minimum depth: 931.916018 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.799678 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.916018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385815;
longitude = -121.508702;
duration = 400;
initialDepth = 878.637367;
finalDepth = 881.916018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.201586
#   Actual altitude:          56.201586
#   Commanded vehicle depth:  881.916018 
#   Seafloor depth:           -938.117604
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.072890 meters
#   Minimum depth: 928.637367 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.532414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.637367 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.385219;
longitude = -121.507875;
duration = 400;
initialDepth = 876.909631;
finalDepth = 878.637367;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.201586
#   Actual altitude:          56.201586
#   Commanded vehicle depth:  878.637367 
#   Seafloor depth:           -931.137088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.073327 meters
#   Minimum depth: 926.909631 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.701979 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 876.909631 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384623;
longitude = -121.507048;
duration = 400;
initialDepth = 875.316063;
finalDepth = 876.909631;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4997209999999
#   Actual altitude:          52.4997209999999
#   Commanded vehicle depth:  876.909631 
#   Seafloor depth:           -928.246431
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.073762 meters
#   Minimum depth: 925.316063 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.909462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.316063 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.384026;
longitude = -121.506222;
duration = 400;
initialDepth = 875.053641;
finalDepth = 875.316063;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3368
#   Actual altitude:          51.3368
#   Commanded vehicle depth:  875.316063 
#   Seafloor depth:           -926.410182
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.074197 meters
#   Minimum depth: 925.053641 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.111563 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.053641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.383430;
longitude = -121.505395;
duration = 400;
initialDepth = 875.169822;
finalDepth = 875.053641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.094119
#   Actual altitude:          51.094119
#   Commanded vehicle depth:  875.053641 
#   Seafloor depth:           -925.053641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.074634 meters
#   Minimum depth: 925.169822 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.203368 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.169822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382834;
longitude = -121.504569;
duration = 400;
initialDepth = 872.985151;
finalDepth = 875.169822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.033546
#   Actual altitude:          54.033546
#   Commanded vehicle depth:  875.169822 
#   Seafloor depth:           -929.203368
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.075069 meters
#   Minimum depth: 922.985151 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.513588 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.985151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.382237;
longitude = -121.503742;
duration = 400;
initialDepth = 872.257423;
finalDepth = 872.985151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.033546
#   Actual altitude:          54.033546
#   Commanded vehicle depth:  872.985151 
#   Seafloor depth:           -925.662612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.075506 meters
#   Minimum depth: 922.257423 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.212032 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.257423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381641;
longitude = -121.502916;
duration = 400;
initialDepth = 872.486556;
finalDepth = 872.257423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.677461
#   Actual altitude:          52.677461
#   Commanded vehicle depth:  872.257423 
#   Seafloor depth:           -922.257423
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.075941 meters
#   Minimum depth: 922.486556 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.290896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.486556 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.381045;
longitude = -121.502089;
duration = 400;
initialDepth = 871.511675;
finalDepth = 872.486556;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0108240000001
#   Actual altitude:          52.0108240000001
#   Commanded vehicle depth:  872.486556 
#   Seafloor depth:           -924.497380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.076377 meters
#   Minimum depth: 921.511675 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.290896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.511675 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.380448;
longitude = -121.501263;
duration = 400;
initialDepth = 870.476774;
finalDepth = 871.511675;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.333464
#   Actual altitude:          52.333464
#   Commanded vehicle depth:  871.511675 
#   Seafloor depth:           -923.845139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.076812 meters
#   Minimum depth: 920.476774 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.208024 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.476774 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379852;
longitude = -121.500436;
duration = 400;
initialDepth = 870.476774;
finalDepth = 870.476774;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.333464
#   Actual altitude:          52.333464
#   Commanded vehicle depth:  870.476774 
#   Seafloor depth:           -921.167527
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 100.077249 meters
#   Minimum depth: 920.476774 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.434253 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.476774 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.379255;
longitude = -121.499609;
duration = 400;
initialDepth = 871.374996;
finalDepth = 870.476774;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.690753
#   Actual altitude:          50.690753
#   Commanded vehicle depth:  870.476774 
#   Seafloor depth:           -920.519978
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 18
#   Segment length 111.197454 meters
#   Minimum depth: 921.374996 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.537083 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.374996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.378659;
longitude = -121.498783;
duration = 444;
initialDepth = 869.555343;
finalDepth = 871.374996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.263334
#   Actual altitude:          55.263334
#   Commanded vehicle depth:  871.374996 
#   Seafloor depth:           -926.638330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 17
#   Segment length 172.517662 meters
#   Minimum depth: 919.555343 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.682763 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.555343 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.377996;
longitude = -121.497864;
duration = 690;
# abortOnTimeout    = True; 
initialDepth = 869.433734;
finalDepth = 869.555343;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.263334
#   Actual altitude:          55.263334
#   Commanded vehicle depth:  869.555343 
#   Seafloor depth:           -922.562663
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.510885 meters
#   Minimum depth: 919.433734 meters looking forward 200.000000 meters along route
#   Maximum depth: 921.078477 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.433734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.376635;
longitude = -121.498783;
duration = 414;
initialDepth = 869.433734;
finalDepth = 869.433734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.00732
#   Actual altitude:          53.00732
#   Commanded vehicle depth:  869.433734 
#   Seafloor depth:           -919.828714
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.511101 meters
#   Minimum depth: 919.433734 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.140750 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.433734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375818;
longitude = -121.499334;
duration = 414;
initialDepth = 872.020707;
finalDepth = 869.433734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.14399
#   Actual altitude:          52.14399
#   Commanded vehicle depth:  869.433734 
#   Seafloor depth:           -921.577724
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.511318 meters
#   Minimum depth: 922.020707 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.558843 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.020707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.375002;
longitude = -121.499885;
duration = 414;
initialDepth = 875.049098;
finalDepth = 872.020707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.565442
#   Actual altitude:          52.565442
#   Commanded vehicle depth:  872.020707 
#   Seafloor depth:           -924.586149
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.511534 meters
#   Minimum depth: 925.049098 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.488253 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.049098 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.374185;
longitude = -121.500436;
duration = 414;
initialDepth = 877.528711;
finalDepth = 875.049098;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.565442
#   Actual altitude:          52.565442
#   Commanded vehicle depth:  875.049098 
#   Seafloor depth:           -927.172424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.511751 meters
#   Minimum depth: 927.528711 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.531499 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.528711 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.373368;
longitude = -121.500987;
duration = 414;
initialDepth = 879.295084;
finalDepth = 877.528711;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.123326
#   Actual altitude:          52.123326
#   Commanded vehicle depth:  877.528711 
#   Seafloor depth:           -928.822815
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.511967 meters
#   Minimum depth: 929.295084 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.370327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.295084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.372552;
longitude = -121.501538;
duration = 414;
initialDepth = 879.619780;
finalDepth = 879.295084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2941039999999
#   Actual altitude:          51.2941039999999
#   Commanded vehicle depth:  879.295084 
#   Seafloor depth:           -929.458958
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.512183 meters
#   Minimum depth: 929.619780 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.989635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.619780 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371735;
longitude = -121.502089;
duration = 414;
initialDepth = 880.711349;
finalDepth = 879.619780;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.882742
#   Actual altitude:          50.882742
#   Commanded vehicle depth:  879.61978 
#   Seafloor depth:           -930.502522
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.512399 meters
#   Minimum depth: 930.711349 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.822165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.711349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370918;
longitude = -121.502640;
duration = 414;
initialDepth = 882.220128;
finalDepth = 880.711349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.882742
#   Actual altitude:          50.882742
#   Commanded vehicle depth:  880.711349 
#   Seafloor depth:           -931.436859
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.512616 meters
#   Minimum depth: 932.220128 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.321619 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.220128 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370101;
longitude = -121.503191;
duration = 414;
initialDepth = 885.360014;
finalDepth = 882.220128;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.772121
#   Actual altitude:          52.772121
#   Commanded vehicle depth:  882.220128 
#   Seafloor depth:           -934.992249
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.512832 meters
#   Minimum depth: 935.360014 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.321619 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.360014 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369285;
longitude = -121.503742;
duration = 414;
initialDepth = 885.235657;
finalDepth = 885.360014;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.772121
#   Actual altitude:          52.772121
#   Commanded vehicle depth:  885.360014 
#   Seafloor depth:           -936.013646
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.513049 meters
#   Minimum depth: 935.235657 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.154176 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.235657 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368468;
longitude = -121.504293;
duration = 414;
initialDepth = 885.355267;
finalDepth = 885.235657;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.653632
#   Actual altitude:          50.653632
#   Commanded vehicle depth:  885.235657 
#   Seafloor depth:           -935.235657
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.513264 meters
#   Minimum depth: 935.355267 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.153072 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.355267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367651;
longitude = -121.504844;
duration = 414;
initialDepth = 885.788134;
finalDepth = 885.355267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.184619
#   Actual altitude:          50.184619
#   Commanded vehicle depth:  885.355267 
#   Seafloor depth:           -935.539886
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.513481 meters
#   Minimum depth: 935.788134 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.165816 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.788134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366834;
longitude = -121.505395;
duration = 414;
initialDepth = 888.958151;
finalDepth = 885.788134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.555241
#   Actual altitude:          51.555241
#   Commanded vehicle depth:  885.788134 
#   Seafloor depth:           -937.343375
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.513698 meters
#   Minimum depth: 938.958151 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.537995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.958151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366018;
longitude = -121.505946;
duration = 414;
initialDepth = 887.252891;
finalDepth = 888.958151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.296836
#   Actual altitude:          55.296836
#   Commanded vehicle depth:  888.958151 
#   Seafloor depth:           -944.254987
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.513914 meters
#   Minimum depth: 937.252891 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.537995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.252891 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365201;
longitude = -121.506497;
duration = 414;
initialDepth = 884.059544;
finalDepth = 887.252891;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.296836
#   Actual altitude:          55.296836
#   Commanded vehicle depth:  887.252891 
#   Seafloor depth:           -940.205355
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.514130 meters
#   Minimum depth: 934.059544 meters looking forward 200.000000 meters along route
#   Maximum depth: 938.667946 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 884.059544 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364384;
longitude = -121.507048;
duration = 414;
initialDepth = 882.447347;
finalDepth = 884.059544;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.082973
#   Actual altitude:          53.082973
#   Commanded vehicle depth:  884.059544 
#   Seafloor depth:           -937.142517
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.514346 meters
#   Minimum depth: 932.447347 meters looking forward 200.000000 meters along route
#   Maximum depth: 935.203060 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.447347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363568;
longitude = -121.507600;
duration = 414;
initialDepth = 880.604176;
finalDepth = 882.447347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.082973
#   Actual altitude:          53.082973
#   Commanded vehicle depth:  882.447347 
#   Seafloor depth:           -934.025380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.761728 meters
#   Minimum depth: 930.604176 meters looking forward 200.000000 meters along route
#   Maximum depth: 932.881448 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.604176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362751;
longitude = -121.508151;
duration = 419;
initialDepth = 879.408922;
finalDepth = 880.604176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.578033
#   Actual altitude:          51.578033
#   Commanded vehicle depth:  880.604176 
#   Seafloor depth:           -931.855957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.761949 meters
#   Minimum depth: 929.408922 meters looking forward 200.000000 meters along route
#   Maximum depth: 931.322288 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 879.408922 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361924;
longitude = -121.508708;
duration = 419;
initialDepth = 878.233398;
finalDepth = 879.408922;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2517809999999
#   Actual altitude:          51.2517809999999
#   Commanded vehicle depth:  879.408922 
#   Seafloor depth:           -930.586451
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.762171 meters
#   Minimum depth: 928.233398 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.215264 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.233398 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361098;
longitude = -121.509266;
duration = 419;
initialDepth = 877.010690;
finalDepth = 878.233398;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.177529
#   Actual altitude:          51.177529
#   Commanded vehicle depth:  878.233398 
#   Seafloor depth:           -929.365514
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.762392 meters
#   Minimum depth: 927.010690 meters looking forward 200.000000 meters along route
#   Maximum depth: 929.253621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.010690 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360271;
longitude = -121.509824;
duration = 419;
initialDepth = 875.997212;
finalDepth = 877.010690;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.220085
#   Actual altitude:          51.220085
#   Commanded vehicle depth:  877.01069 
#   Seafloor depth:           -928.230775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.762615 meters
#   Minimum depth: 925.997212 meters looking forward 200.000000 meters along route
#   Maximum depth: 927.995687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 875.997212 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359445;
longitude = -121.510381;
duration = 419;
initialDepth = 874.485910;
finalDepth = 875.997212;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.220085
#   Actual altitude:          51.220085
#   Commanded vehicle depth:  875.997212 
#   Seafloor depth:           -926.797283
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.762835 meters
#   Minimum depth: 924.485910 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.822171 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.485910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358618;
longitude = -121.510939;
duration = 419;
initialDepth = 873.337418;
finalDepth = 874.485910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.477348
#   Actual altitude:          51.477348
#   Commanded vehicle depth:  874.48591 
#   Seafloor depth:           -925.963258
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.763057 meters
#   Minimum depth: 923.337418 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.821314 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.337418 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357791;
longitude = -121.511497;
duration = 419;
initialDepth = 872.577440;
finalDepth = 873.337418;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.477348
#   Actual altitude:          51.477348
#   Commanded vehicle depth:  873.337418 
#   Seafloor depth:           -924.363418
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 104.763279 meters
#   Minimum depth: 922.577440 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.968655 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 872.577440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356965;
longitude = -121.512054;
duration = 419;
initialDepth = 870.650636;
finalDepth = 872.577440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0260000000001
#   Actual altitude:          51.0260000000001
#   Commanded vehicle depth:  872.57744 
#   Seafloor depth:           -923.189307
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 128.044309 meters
#   Minimum depth: 920.650636 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.927020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.650636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356138;
longitude = -121.512612;
duration = 512;
initialDepth = 870.253255;
finalDepth = 870.650636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.905266
#   Actual altitude:          51.905266
#   Commanded vehicle depth:  870.650636 
#   Seafloor depth:           -922.555902
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 16
#   Segment length 147.097647 meters
#   Minimum depth: 920.253255 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.271777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.253255 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355128;
longitude = -121.513294;
duration = 588;
# abortOnTimeout    = True; 
initialDepth = 870.874166;
finalDepth = 870.253255;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.905266
#   Actual altitude:          51.905266
#   Commanded vehicle depth:  870.253255 
#   Seafloor depth:           -920.253255
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.836289 meters
#   Minimum depth: 920.874166 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.271777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.874166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356023;
longitude = -121.514488;
duration = 407;
initialDepth = 871.563125;
finalDepth = 870.874166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3752770000001
#   Actual altitude:          51.3752770000001
#   Commanded vehicle depth:  870.874166 
#   Seafloor depth:           -922.249443
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.835844 meters
#   Minimum depth: 921.563125 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.390865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.563125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356643;
longitude = -121.515314;
duration = 407;
initialDepth = 873.541457;
finalDepth = 871.563125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7766329999999
#   Actual altitude:          51.7766329999999
#   Commanded vehicle depth:  871.563125 
#   Seafloor depth:           -923.339758
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.835401 meters
#   Minimum depth: 923.541457 meters looking forward 200.000000 meters along route
#   Maximum depth: 925.412613 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.541457 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357263;
longitude = -121.516141;
duration = 407;
initialDepth = 874.828942;
finalDepth = 873.541457;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7766329999999
#   Actual altitude:          51.7766329999999
#   Commanded vehicle depth:  873.541457 
#   Seafloor depth:           -924.535123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.834955 meters
#   Minimum depth: 924.828942 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.559121 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.828942 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357883;
longitude = -121.516967;
duration = 407;
initialDepth = 877.464900;
finalDepth = 874.828942;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0904850000001
#   Actual altitude:          51.0904850000001
#   Commanded vehicle depth:  874.828942 
#   Seafloor depth:           -925.919427
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.834512 meters
#   Minimum depth: 927.464900 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.027011 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 877.464900 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358503;
longitude = -121.517794;
duration = 407;
initialDepth = 878.337367;
finalDepth = 877.464900;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1612220000001
#   Actual altitude:          51.1612220000001
#   Commanded vehicle depth:  877.4649 
#   Seafloor depth:           -928.626122
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.834067 meters
#   Minimum depth: 928.337367 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.861480 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.337367 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359123;
longitude = -121.518620;
duration = 407;
initialDepth = 880.747288;
finalDepth = 878.337367;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.114762
#   Actual altitude:          52.114762
#   Commanded vehicle depth:  878.337367 
#   Seafloor depth:           -930.452129
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.833623 meters
#   Minimum depth: 930.747288 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.299702 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 880.747288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359743;
longitude = -121.519447;
duration = 407;
initialDepth = 883.634312;
finalDepth = 880.747288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4355429999999
#   Actual altitude:          53.4355429999999
#   Commanded vehicle depth:  880.747288 
#   Seafloor depth:           -934.182831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.833178 meters
#   Minimum depth: 933.634312 meters looking forward 200.000000 meters along route
#   Maximum depth: 936.148638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 883.634312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360363;
longitude = -121.520274;
duration = 407;
initialDepth = 885.624121;
finalDepth = 883.634312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4355429999999
#   Actual altitude:          53.4355429999999
#   Commanded vehicle depth:  883.634312 
#   Seafloor depth:           -934.141025
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.832734 meters
#   Minimum depth: 935.624121 meters looking forward 200.000000 meters along route
#   Maximum depth: 937.708151 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 885.624121 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360983;
longitude = -121.521100;
duration = 407;
initialDepth = 886.249582;
finalDepth = 885.624121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.506713
#   Actual altitude:          50.506713
#   Commanded vehicle depth:  885.624121 
#   Seafloor depth:           -935.974464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.832289 meters
#   Minimum depth: 936.249582 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.137783 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 886.249582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361602;
longitude = -121.521927;
duration = 407;
initialDepth = 888.727622;
finalDepth = 886.249582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.74486
#   Actual altitude:          52.74486
#   Commanded vehicle depth:  886.249582 
#   Seafloor depth:           -938.994442
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.831846 meters
#   Minimum depth: 938.727622 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.137783 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 888.727622 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362222;
longitude = -121.522753;
duration = 407;
initialDepth = 887.680974;
finalDepth = 888.727622;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.74486
#   Actual altitude:          52.74486
#   Commanded vehicle depth:  888.727622 
#   Seafloor depth:           -939.132246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.831401 meters
#   Minimum depth: 937.680974 meters looking forward 200.000000 meters along route
#   Maximum depth: 943.652266 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.680974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362842;
longitude = -121.523580;
duration = 407;
initialDepth = 887.680974;
finalDepth = 887.680974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.501903
#   Actual altitude:          52.501903
#   Commanded vehicle depth:  887.680974 
#   Seafloor depth:           -940.182877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.830956 meters
#   Minimum depth: 937.680974 meters looking forward 200.000000 meters along route
#   Maximum depth: 944.966995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.680974 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363462;
longitude = -121.524406;
duration = 407;
initialDepth = 891.704386;
finalDepth = 887.680974;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.286021
#   Actual altitude:          57.286021
#   Commanded vehicle depth:  887.680974 
#   Seafloor depth:           -944.966995
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.830513 meters
#   Minimum depth: 941.704386 meters looking forward 200.000000 meters along route
#   Maximum depth: 946.819725 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 891.704386 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364082;
longitude = -121.525233;
duration = 407;
initialDepth = 893.733181;
finalDepth = 891.704386;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.286021
#   Actual altitude:          57.286021
#   Commanded vehicle depth:  891.704386 
#   Seafloor depth:           -943.419479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.830068 meters
#   Minimum depth: 943.733181 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.888996 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.733181 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364702;
longitude = -121.526060;
duration = 407;
initialDepth = 897.681659;
finalDepth = 893.733181;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.715093
#   Actual altitude:          51.715093
#   Commanded vehicle depth:  893.733181 
#   Seafloor depth:           -944.795487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.829623 meters
#   Minimum depth: 947.681659 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.382292 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.681659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365322;
longitude = -121.526886;
duration = 407;
initialDepth = 897.681659;
finalDepth = 897.681659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.117956
#   Actual altitude:          51.117956
#   Commanded vehicle depth:  897.681659 
#   Seafloor depth:           -948.799615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.829180 meters
#   Minimum depth: 947.681659 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.160658 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.681659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365942;
longitude = -121.527713;
duration = 407;
initialDepth = 899.498344;
finalDepth = 897.681659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4559720000001
#   Actual altitude:          53.4559720000001
#   Commanded vehicle depth:  897.681659 
#   Seafloor depth:           -951.137631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.828735 meters
#   Minimum depth: 949.498344 meters looking forward 200.000000 meters along route
#   Maximum depth: 959.587687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.498344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366562;
longitude = -121.528539;
duration = 407;
initialDepth = 899.498344;
finalDepth = 899.498344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4559720000001
#   Actual altitude:          53.4559720000001
#   Commanded vehicle depth:  899.498344 
#   Seafloor depth:           -949.544300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.828291 meters
#   Minimum depth: 949.498344 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.814230 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.498344 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367182;
longitude = -121.529366;
duration = 407;
initialDepth = 906.426213;
finalDepth = 899.498344;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1051170000001
#   Actual altitude:          60.1051170000001
#   Commanded vehicle depth:  899.498344 
#   Seafloor depth:           -959.603461
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 18.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.827847 meters
#   Minimum depth: 956.426213 meters looking forward 200.000000 meters along route
#   Maximum depth: 964.814230 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 906.426213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367801;
longitude = -121.530192;
duration = 407;
initialDepth = 907.161067;
finalDepth = 906.426213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1051170000001
#   Actual altitude:          60.1051170000001
#   Commanded vehicle depth:  906.426213 
#   Seafloor depth:           -956.961944
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 18.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.827402 meters
#   Minimum depth: 957.161067 meters looking forward 200.000000 meters along route
#   Maximum depth: 963.415809 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 907.161067 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368421;
longitude = -121.531019;
duration = 407;
initialDepth = 909.145679;
finalDepth = 907.161067;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.278288
#   Actual altitude:          51.278288
#   Commanded vehicle depth:  907.161067 
#   Seafloor depth:           -958.439355
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.826959 meters
#   Minimum depth: 959.145679 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.269034 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.145679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369041;
longitude = -121.531846;
duration = 407;
initialDepth = 913.174304;
finalDepth = 909.145679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2209300000001
#   Actual altitude:          53.2209300000001
#   Commanded vehicle depth:  909.145679 
#   Seafloor depth:           -962.366609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 101.826514 meters
#   Minimum depth: 963.174304 meters looking forward 200.000000 meters along route
#   Maximum depth: 968.269034 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.174304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369661;
longitude = -121.532672;
duration = 407;
initialDepth = 913.174304;
finalDepth = 913.174304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.2209300000001
#   Actual altitude:          53.2209300000001
#   Commanded vehicle depth:  913.174304 
#   Seafloor depth:           -964.005761
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 120.796649 meters
#   Minimum depth: 963.174304 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.840379 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.174304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370281;
longitude = -121.533499;
duration = 483;
initialDepth = 916.918639;
finalDepth = 913.174304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.489339
#   Actual altitude:          53.489339
#   Commanded vehicle depth:  913.174304 
#   Seafloor depth:           -966.663643
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 16
#   Segment length 105.541936 meters
#   Minimum depth: 966.918639 meters looking forward 200.000000 meters along route
#   Maximum depth: 974.693260 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 916.918639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371016;
longitude = -121.534479;
duration = 422;
initialDepth = 920.165215;
finalDepth = 916.918639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.774621
#   Actual altitude:          57.774621
#   Commanded vehicle depth:  916.918639 
#   Seafloor depth:           -974.693260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 15
#   Segment length 167.170781 meters
#   Minimum depth: 970.165215 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.753971 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 920.165215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371659;
longitude = -121.535336;
duration = 668;
# abortOnTimeout    = True; 
initialDepth = 921.165349;
finalDepth = 920.165215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.774621
#   Actual altitude:          57.774621
#   Commanded vehicle depth:  920.165215 
#   Seafloor depth:           -972.791153
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.276431 meters
#   Minimum depth: 971.165349 meters looking forward 200.000000 meters along route
#   Maximum depth: 976.829297 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 921.165349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371578;
longitude = -121.533499;
duration = 401;
initialDepth = 918.252684;
finalDepth = 921.165349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7609640000001
#   Actual altitude:          54.7609640000001
#   Commanded vehicle depth:  921.165349 
#   Seafloor depth:           -975.926313
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.276523 meters
#   Minimum depth: 968.252684 meters looking forward 200.000000 meters along route
#   Maximum depth: 976.829297 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.252684 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371530;
longitude = -121.532397;
duration = 401;
initialDepth = 918.252684;
finalDepth = 918.252684;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7609640000001
#   Actual altitude:          54.7609640000001
#   Commanded vehicle depth:  918.252684 
#   Seafloor depth:           -970.449804
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.276616 meters
#   Minimum depth: 968.252684 meters looking forward 200.000000 meters along route
#   Maximum depth: 970.108462 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.252684 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371482;
longitude = -121.531295;
duration = 401;
initialDepth = 919.332965;
finalDepth = 918.252684;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1971199999999
#   Actual altitude:          52.1971199999999
#   Commanded vehicle depth:  918.252684 
#   Seafloor depth:           -969.029055
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.276709 meters
#   Minimum depth: 969.332965 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.646681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 919.332965 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371433;
longitude = -121.530192;
duration = 401;
initialDepth = 920.402954;
finalDepth = 919.332965;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.138458
#   Actual altitude:          52.138458
#   Commanded vehicle depth:  919.332965 
#   Seafloor depth:           -971.471423
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.276802 meters
#   Minimum depth: 970.402954 meters looking forward 200.000000 meters along route
#   Maximum depth: 973.646681 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 920.402954 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371385;
longitude = -121.529090;
duration = 401;
initialDepth = 918.435439;
finalDepth = 920.402954;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.138458
#   Actual altitude:          52.138458
#   Commanded vehicle depth:  920.402954 
#   Seafloor depth:           -972.213043
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.276894 meters
#   Minimum depth: 968.435439 meters looking forward 200.000000 meters along route
#   Maximum depth: 971.908066 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 918.435439 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371337;
longitude = -121.527988;
duration = 401;
initialDepth = 915.477010;
finalDepth = 918.435439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.048488
#   Actual altitude:          52.048488
#   Commanded vehicle depth:  918.435439 
#   Seafloor depth:           -970.483927
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.276987 meters
#   Minimum depth: 965.477010 meters looking forward 200.000000 meters along route
#   Maximum depth: 969.975305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 915.477010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371288;
longitude = -121.526886;
duration = 401;
initialDepth = 913.380869;
finalDepth = 915.477010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6537480000001
#   Actual altitude:          52.6537480000001
#   Commanded vehicle depth:  915.47701 
#   Seafloor depth:           -968.130758
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277080 meters
#   Minimum depth: 963.380869 meters looking forward 200.000000 meters along route
#   Maximum depth: 966.780206 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 913.380869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371240;
longitude = -121.525784;
duration = 401;
initialDepth = 911.260158;
finalDepth = 913.380869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6537480000001
#   Actual altitude:          52.6537480000001
#   Commanded vehicle depth:  913.380869 
#   Seafloor depth:           -965.856332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277173 meters
#   Minimum depth: 961.260158 meters looking forward 200.000000 meters along route
#   Maximum depth: 965.565932 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 911.260158 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371192;
longitude = -121.524682;
duration = 401;
initialDepth = 909.616770;
finalDepth = 911.260158;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.475463
#   Actual altitude:          52.475463
#   Commanded vehicle depth:  911.260158 
#   Seafloor depth:           -962.844907
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277266 meters
#   Minimum depth: 959.616770 meters looking forward 200.000000 meters along route
#   Maximum depth: 962.566122 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 909.616770 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371143;
longitude = -121.523580;
duration = 401;
initialDepth = 908.285774;
finalDepth = 909.616770;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.584749
#   Actual altitude:          51.584749
#   Commanded vehicle depth:  909.61677 
#   Seafloor depth:           -960.788111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277358 meters
#   Minimum depth: 958.285774 meters looking forward 200.000000 meters along route
#   Maximum depth: 960.484349 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 908.285774 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371095;
longitude = -121.522478;
duration = 401;
initialDepth = 905.736459;
finalDepth = 908.285774;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.171341
#   Actual altitude:          51.171341
#   Commanded vehicle depth:  908.285774 
#   Seafloor depth:           -959.188195
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277451 meters
#   Minimum depth: 955.736459 meters looking forward 200.000000 meters along route
#   Maximum depth: 958.674704 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.736459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.371047;
longitude = -121.521376;
duration = 401;
initialDepth = 905.254873;
finalDepth = 905.736459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358706
#   Actual altitude:          51.358706
#   Commanded vehicle depth:  905.736459 
#   Seafloor depth:           -957.095165
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277545 meters
#   Minimum depth: 955.254873 meters looking forward 200.000000 meters along route
#   Maximum depth: 956.944941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 905.254873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370998;
longitude = -121.520274;
duration = 401;
initialDepth = 904.166525;
finalDepth = 905.254873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.358706
#   Actual altitude:          51.358706
#   Commanded vehicle depth:  905.254873 
#   Seafloor depth:           -955.254873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277637 meters
#   Minimum depth: 954.166525 meters looking forward 200.000000 meters along route
#   Maximum depth: 955.526305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 904.166525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370950;
longitude = -121.519172;
duration = 401;
initialDepth = 903.614140;
finalDepth = 904.166525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.842877
#   Actual altitude:          50.842877
#   Commanded vehicle depth:  904.166525 
#   Seafloor depth:           -955.009402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277730 meters
#   Minimum depth: 953.614140 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.649814 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.614140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370902;
longitude = -121.518069;
duration = 401;
initialDepth = 903.614140;
finalDepth = 903.614140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.842877
#   Actual altitude:          50.842877
#   Commanded vehicle depth:  903.61414 
#   Seafloor depth:           -953.768167
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277823 meters
#   Minimum depth: 953.614140 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.547170 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 903.614140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370853;
longitude = -121.516967;
duration = 401;
initialDepth = 902.995509;
finalDepth = 903.614140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6501459999999
#   Actual altitude:          50.6501459999999
#   Commanded vehicle depth:  903.61414 
#   Seafloor depth:           -954.264286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.277917 meters
#   Minimum depth: 952.995509 meters looking forward 200.000000 meters along route
#   Maximum depth: 954.547170 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 902.995509 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370805;
longitude = -121.515865;
duration = 401;
initialDepth = 900.322321;
finalDepth = 902.995509;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.293547
#   Actual altitude:          51.293547
#   Commanded vehicle depth:  902.995509 
#   Seafloor depth:           -954.289056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278009 meters
#   Minimum depth: 950.322321 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.399117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.322321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370757;
longitude = -121.514763;
duration = 401;
initialDepth = 900.322321;
finalDepth = 900.322321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.293547
#   Actual altitude:          51.293547
#   Commanded vehicle depth:  900.322321 
#   Seafloor depth:           -951.280917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278102 meters
#   Minimum depth: 950.322321 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.145807 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.322321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370708;
longitude = -121.513661;
duration = 401;
initialDepth = 900.856264;
finalDepth = 900.322321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9585960000001
#   Actual altitude:          50.9585960000001
#   Commanded vehicle depth:  900.322321 
#   Seafloor depth:           -950.576592
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278196 meters
#   Minimum depth: 950.856264 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.034319 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 900.856264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370660;
longitude = -121.512559;
duration = 401;
initialDepth = 899.717762;
finalDepth = 900.856264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.423577
#   Actual altitude:          51.423577
#   Commanded vehicle depth:  900.856264 
#   Seafloor depth:           -952.279841
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278288 meters
#   Minimum depth: 949.717762 meters looking forward 200.000000 meters along route
#   Maximum depth: 953.034319 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 899.717762 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370611;
longitude = -121.511457;
duration = 401;
initialDepth = 897.178518;
finalDepth = 899.717762;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.082044
#   Actual altitude:          52.082044
#   Commanded vehicle depth:  899.717762 
#   Seafloor depth:           -951.799806
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278382 meters
#   Minimum depth: 947.178518 meters looking forward 200.000000 meters along route
#   Maximum depth: 951.669177 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 897.178518 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370563;
longitude = -121.510355;
duration = 401;
initialDepth = 893.329098;
finalDepth = 897.178518;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.082044
#   Actual altitude:          52.082044
#   Commanded vehicle depth:  897.178518 
#   Seafloor depth:           -949.085109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278475 meters
#   Minimum depth: 943.329098 meters looking forward 200.000000 meters along route
#   Maximum depth: 947.899709 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.329098 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370515;
longitude = -121.509253;
duration = 401;
initialDepth = 890.929116;
finalDepth = 893.329098;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.049585
#   Actual altitude:          53.049585
#   Commanded vehicle depth:  893.329098 
#   Seafloor depth:           -946.378683
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278568 meters
#   Minimum depth: 940.929116 meters looking forward 200.000000 meters along route
#   Maximum depth: 945.801173 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.929116 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370466;
longitude = -121.508151;
duration = 401;
initialDepth = 890.929116;
finalDepth = 890.929116;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.049585
#   Actual altitude:          53.049585
#   Commanded vehicle depth:  890.929116 
#   Seafloor depth:           -942.602383
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278662 meters
#   Minimum depth: 940.929116 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.344473 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 890.929116 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370418;
longitude = -121.507048;
duration = 401;
initialDepth = 893.216823;
finalDepth = 890.929116;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.673267
#   Actual altitude:          51.673267
#   Commanded vehicle depth:  890.929116 
#   Seafloor depth:           -941.968708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278754 meters
#   Minimum depth: 943.216823 meters looking forward 200.000000 meters along route
#   Maximum depth: 950.434917 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 893.216823 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370370;
longitude = -121.505946;
duration = 401;
initialDepth = 887.681200;
finalDepth = 893.216823;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2180940000001
#   Actual altitude:          57.2180940000001
#   Commanded vehicle depth:  893.216823 
#   Seafloor depth:           -950.434917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278848 meters
#   Minimum depth: 937.681200 meters looking forward 200.000000 meters along route
#   Maximum depth: 949.960033 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 887.681200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370321;
longitude = -121.504844;
duration = 401;
initialDepth = 882.502444;
finalDepth = 887.681200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2180940000001
#   Actual altitude:          57.2180940000001
#   Commanded vehicle depth:  887.6812 
#   Seafloor depth:           -942.473804
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.278941 meters
#   Minimum depth: 932.502444 meters looking forward 200.000000 meters along route
#   Maximum depth: 940.296627 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 882.502444 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370273;
longitude = -121.503742;
duration = 401;
initialDepth = 881.872821;
finalDepth = 882.502444;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.792604
#   Actual altitude:          54.792604
#   Commanded vehicle depth:  882.502444 
#   Seafloor depth:           -935.693696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279035 meters
#   Minimum depth: 931.872821 meters looking forward 200.000000 meters along route
#   Maximum depth: 934.943896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.872821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370225;
longitude = -121.502640;
duration = 401;
initialDepth = 881.872821;
finalDepth = 881.872821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1912520000001
#   Actual altitude:          53.1912520000001
#   Commanded vehicle depth:  881.872821 
#   Seafloor depth:           -932.576867
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279127 meters
#   Minimum depth: 931.872821 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.577124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 881.872821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370176;
longitude = -121.501538;
duration = 401;
initialDepth = 878.748494;
finalDepth = 881.872821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4876869999999
#   Actual altitude:          51.4876869999999
#   Commanded vehicle depth:  881.872821 
#   Seafloor depth:           -933.360508
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279222 meters
#   Minimum depth: 928.748494 meters looking forward 200.000000 meters along route
#   Maximum depth: 933.577124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 878.748494 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370128;
longitude = -121.500436;
duration = 401;
initialDepth = 874.603916;
finalDepth = 878.748494;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0713529999999
#   Actual altitude:          53.0713529999999
#   Commanded vehicle depth:  878.748494 
#   Seafloor depth:           -931.819847
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279314 meters
#   Minimum depth: 924.603916 meters looking forward 200.000000 meters along route
#   Maximum depth: 930.904820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 874.603916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370080;
longitude = -121.499334;
duration = 401;
initialDepth = 873.091988;
finalDepth = 874.603916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0713529999999
#   Actual altitude:          53.0713529999999
#   Commanded vehicle depth:  874.603916 
#   Seafloor depth:           -927.385852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279408 meters
#   Minimum depth: 923.091988 meters looking forward 200.000000 meters along route
#   Maximum depth: 926.332567 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 873.091988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.370031;
longitude = -121.498232;
duration = 401;
initialDepth = 871.428439;
finalDepth = 873.091988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.781936
#   Actual altitude:          52.781936
#   Commanded vehicle depth:  873.091988 
#   Seafloor depth:           -923.711403
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279502 meters
#   Minimum depth: 921.428439 meters looking forward 200.000000 meters along route
#   Maximum depth: 923.622322 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.428439 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369983;
longitude = -121.497130;
duration = 401;
initialDepth = 870.569737;
finalDepth = 871.428439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.115471
#   Actual altitude:          52.115471
#   Commanded vehicle depth:  871.428439 
#   Seafloor depth:           -923.543910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279595 meters
#   Minimum depth: 920.569737 meters looking forward 200.000000 meters along route
#   Maximum depth: 924.750737 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 870.569737 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369935;
longitude = -121.496028;
duration = 401;
initialDepth = 871.602616;
finalDepth = 870.569737;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.115471
#   Actual altitude:          52.115471
#   Commanded vehicle depth:  870.569737 
#   Seafloor depth:           -920.569737
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279688 meters
#   Minimum depth: 921.602616 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.462091 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 871.602616 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369886;
longitude = -121.494925;
duration = 401;
initialDepth = 869.118641;
finalDepth = 871.602616;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.545795
#   Actual altitude:          55.545795
#   Commanded vehicle depth:  871.602616 
#   Seafloor depth:           -927.148411
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279782 meters
#   Minimum depth: 919.118641 meters looking forward 200.000000 meters along route
#   Maximum depth: 928.462091 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 869.118641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369838;
longitude = -121.493823;
duration = 401;
initialDepth = 864.578800;
finalDepth = 869.118641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.545795
#   Actual altitude:          55.545795
#   Commanded vehicle depth:  869.118641 
#   Seafloor depth:           -924.178315
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279876 meters
#   Minimum depth: 914.578800 meters looking forward 200.000000 meters along route
#   Maximum depth: 922.008473 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 864.578800 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369790;
longitude = -121.492721;
duration = 401;
initialDepth = 863.667167;
finalDepth = 864.578800;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.059674
#   Actual altitude:          55.059674
#   Commanded vehicle depth:  864.5788 
#   Seafloor depth:           -917.599347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.279969 meters
#   Minimum depth: 913.667167 meters looking forward 200.000000 meters along route
#   Maximum depth: 916.478219 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 863.667167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369741;
longitude = -121.491619;
duration = 401;
initialDepth = 861.011821;
finalDepth = 863.667167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.020547
#   Actual altitude:          53.020547
#   Commanded vehicle depth:  863.667167 
#   Seafloor depth:           -913.667167
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280062 meters
#   Minimum depth: 911.011821 meters looking forward 200.000000 meters along route
#   Maximum depth: 914.359824 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 861.011821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369693;
longitude = -121.490517;
duration = 401;
initialDepth = 859.435385;
finalDepth = 861.011821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4428519999999
#   Actual altitude:          52.4428519999999
#   Commanded vehicle depth:  861.011821 
#   Seafloor depth:           -913.454673
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280157 meters
#   Minimum depth: 909.435385 meters looking forward 200.000000 meters along route
#   Maximum depth: 912.086886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 859.435385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369645;
longitude = -121.489415;
duration = 401;
initialDepth = 859.435385;
finalDepth = 859.435385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4428519999999
#   Actual altitude:          52.4428519999999
#   Commanded vehicle depth:  859.435385 
#   Seafloor depth:           -911.107905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280250 meters
#   Minimum depth: 909.435385 meters looking forward 200.000000 meters along route
#   Maximum depth: 910.991673 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 859.435385 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369596;
longitude = -121.488313;
duration = 401;
initialDepth = 857.654861;
finalDepth = 859.435385;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.67252
#   Actual altitude:          51.67252
#   Commanded vehicle depth:  859.435385 
#   Seafloor depth:           -909.862599
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280343 meters
#   Minimum depth: 907.654861 meters looking forward 200.000000 meters along route
#   Maximum depth: 910.711729 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 857.654861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369548;
longitude = -121.487211;
duration = 401;
initialDepth = 856.151263;
finalDepth = 857.654861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.560745
#   Actual altitude:          52.560745
#   Commanded vehicle depth:  857.654861 
#   Seafloor depth:           -910.215606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280437 meters
#   Minimum depth: 906.151263 meters looking forward 200.000000 meters along route
#   Maximum depth: 909.329786 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 856.151263 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369499;
longitude = -121.486109;
duration = 401;
initialDepth = 853.345046;
finalDepth = 856.151263;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.560745
#   Actual altitude:          52.560745
#   Commanded vehicle depth:  856.151263 
#   Seafloor depth:           -906.971576
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280531 meters
#   Minimum depth: 903.345046 meters looking forward 200.000000 meters along route
#   Maximum depth: 906.790674 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 853.345046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369451;
longitude = -121.485007;
duration = 401;
initialDepth = 851.587748;
finalDepth = 853.345046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.790455
#   Actual altitude:          51.790455
#   Commanded vehicle depth:  853.345046 
#   Seafloor depth:           -905.135501
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280625 meters
#   Minimum depth: 901.587748 meters looking forward 200.000000 meters along route
#   Maximum depth: 904.474536 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 851.587748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369403;
longitude = -121.483905;
duration = 401;
initialDepth = 850.077065;
finalDepth = 851.587748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.790455
#   Actual altitude:          51.790455
#   Commanded vehicle depth:  851.587748 
#   Seafloor depth:           -901.587748
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280719 meters
#   Minimum depth: 900.077065 meters looking forward 200.000000 meters along route
#   Maximum depth: 903.200773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 850.077065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369354;
longitude = -121.482802;
duration = 401;
initialDepth = 849.070087;
finalDepth = 850.077065;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.161058
#   Actual altitude:          51.161058
#   Commanded vehicle depth:  850.077065 
#   Seafloor depth:           -901.238123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280812 meters
#   Minimum depth: 899.070087 meters looking forward 200.000000 meters along route
#   Maximum depth: 904.624163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 849.070087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369306;
longitude = -121.481700;
duration = 401;
initialDepth = 849.710266;
finalDepth = 849.070087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.161058
#   Actual altitude:          51.161058
#   Commanded vehicle depth:  849.070087 
#   Seafloor depth:           -899.070087
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.280906 meters
#   Minimum depth: 899.710266 meters looking forward 200.000000 meters along route
#   Maximum depth: 904.960143 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 849.710266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369258;
longitude = -121.480598;
duration = 401;
initialDepth = 849.570339;
finalDepth = 849.710266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0691939999999
#   Actual altitude:          55.0691939999999
#   Commanded vehicle depth:  849.710266 
#   Seafloor depth:           -904.779460
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281000 meters
#   Minimum depth: 899.570339 meters looking forward 200.000000 meters along route
#   Maximum depth: 904.960143 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 849.570339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369209;
longitude = -121.479496;
duration = 401;
initialDepth = 847.342716;
finalDepth = 849.570339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0691939999999
#   Actual altitude:          55.0691939999999
#   Commanded vehicle depth:  849.570339 
#   Seafloor depth:           -901.924678
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281094 meters
#   Minimum depth: 897.342716 meters looking forward 200.000000 meters along route
#   Maximum depth: 900.823849 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 847.342716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369161;
longitude = -121.478394;
duration = 401;
initialDepth = 847.006253;
finalDepth = 847.342716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.354339
#   Actual altitude:          52.354339
#   Commanded vehicle depth:  847.342716 
#   Seafloor depth:           -899.037734
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281188 meters
#   Minimum depth: 897.006253 meters looking forward 200.000000 meters along route
#   Maximum depth: 898.062519 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 847.006253 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369113;
longitude = -121.477292;
duration = 401;
initialDepth = 844.954537;
finalDepth = 847.006253;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.695018
#   Actual altitude:          51.695018
#   Commanded vehicle depth:  847.006253 
#   Seafloor depth:           -897.075784
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281282 meters
#   Minimum depth: 894.954537 meters looking forward 200.000000 meters along route
#   Maximum depth: 897.133596 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 844.954537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369064;
longitude = -121.476190;
duration = 401;
initialDepth = 843.805213;
finalDepth = 844.954537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.416613
#   Actual altitude:          51.416613
#   Commanded vehicle depth:  844.954537 
#   Seafloor depth:           -896.371150
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281375 meters
#   Minimum depth: 893.805213 meters looking forward 200.000000 meters along route
#   Maximum depth: 896.610760 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 843.805213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.369016;
longitude = -121.475088;
duration = 401;
initialDepth = 843.150327;
finalDepth = 843.805213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.416613
#   Actual altitude:          51.416613
#   Commanded vehicle depth:  843.805213 
#   Seafloor depth:           -894.738013
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281470 meters
#   Minimum depth: 893.150327 meters looking forward 200.000000 meters along route
#   Maximum depth: 895.594155 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 843.150327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368968;
longitude = -121.473986;
duration = 401;
initialDepth = 843.150327;
finalDepth = 843.150327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9328
#   Actual altitude:          50.9328
#   Commanded vehicle depth:  843.150327 
#   Seafloor depth:           -893.416240
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281563 meters
#   Minimum depth: 893.150327 meters looking forward 200.000000 meters along route
#   Maximum depth: 898.405196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 843.150327 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368919;
longitude = -121.472884;
duration = 401;
initialDepth = 840.595933;
finalDepth = 843.150327;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.3261110000001
#   Actual altitude:          54.3261110000001
#   Commanded vehicle depth:  843.150327 
#   Seafloor depth:           -897.476438
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281658 meters
#   Minimum depth: 890.595933 meters looking forward 200.000000 meters along route
#   Maximum depth: 898.405196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 840.595933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368871;
longitude = -121.471782;
duration = 401;
initialDepth = 838.407919;
finalDepth = 840.595933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.3261110000001
#   Actual altitude:          54.3261110000001
#   Commanded vehicle depth:  840.595933 
#   Seafloor depth:           -894.715105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281752 meters
#   Minimum depth: 888.407919 meters looking forward 200.000000 meters along route
#   Maximum depth: 893.232899 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 838.407919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368823;
longitude = -121.470679;
duration = 401;
initialDepth = 836.136507;
finalDepth = 838.407919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.119172
#   Actual altitude:          54.119172
#   Commanded vehicle depth:  838.407919 
#   Seafloor depth:           -890.162004
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281845 meters
#   Minimum depth: 886.136507 meters looking forward 200.000000 meters along route
#   Maximum depth: 889.697771 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 836.136507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368774;
longitude = -121.469577;
duration = 401;
initialDepth = 834.703910;
finalDepth = 836.136507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2573609999999
#   Actual altitude:          52.2573609999999
#   Commanded vehicle depth:  836.136507 
#   Seafloor depth:           -888.393868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.281940 meters
#   Minimum depth: 884.703910 meters looking forward 200.000000 meters along route
#   Maximum depth: 887.100425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 834.703910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368726;
longitude = -121.468475;
duration = 401;
initialDepth = 833.274715;
finalDepth = 834.703910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2573609999999
#   Actual altitude:          52.2573609999999
#   Commanded vehicle depth:  834.70391 
#   Seafloor depth:           -885.640215
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282034 meters
#   Minimum depth: 883.274715 meters looking forward 200.000000 meters along route
#   Maximum depth: 885.275938 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 833.274715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368678;
longitude = -121.467373;
duration = 401;
initialDepth = 831.833112;
finalDepth = 833.274715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9363050000001
#   Actual altitude:          50.9363050000001
#   Commanded vehicle depth:  833.274715 
#   Seafloor depth:           -884.193839
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282128 meters
#   Minimum depth: 881.833112 meters looking forward 200.000000 meters along route
#   Maximum depth: 884.149992 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 831.833112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368629;
longitude = -121.466271;
duration = 401;
initialDepth = 829.366820;
finalDepth = 831.833112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.126593
#   Actual altitude:          51.126593
#   Commanded vehicle depth:  831.833112 
#   Seafloor depth:           -882.959705
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282222 meters
#   Minimum depth: 879.366820 meters looking forward 200.000000 meters along route
#   Maximum depth: 882.343986 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 829.366820 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368581;
longitude = -121.465169;
duration = 401;
initialDepth = 827.898058;
finalDepth = 829.366820;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.13715
#   Actual altitude:          52.13715
#   Commanded vehicle depth:  829.36682 
#   Seafloor depth:           -881.503970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282317 meters
#   Minimum depth: 877.898058 meters looking forward 200.000000 meters along route
#   Maximum depth: 881.119241 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 827.898058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368533;
longitude = -121.464067;
duration = 401;
initialDepth = 825.687633;
finalDepth = 827.898058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.13715
#   Actual altitude:          52.13715
#   Commanded vehicle depth:  827.898058 
#   Seafloor depth:           -879.358915
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282410 meters
#   Minimum depth: 875.687633 meters looking forward 200.000000 meters along route
#   Maximum depth: 878.869276 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 825.687633 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368484;
longitude = -121.462965;
duration = 401;
initialDepth = 824.442131;
finalDepth = 825.687633;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.758146
#   Actual altitude:          51.758146
#   Commanded vehicle depth:  825.687633 
#   Seafloor depth:           -877.445779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282505 meters
#   Minimum depth: 874.442131 meters looking forward 200.000000 meters along route
#   Maximum depth: 877.061449 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 824.442131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368436;
longitude = -121.461863;
duration = 401;
initialDepth = 822.837824;
finalDepth = 824.442131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.758146
#   Actual altitude:          51.758146
#   Commanded vehicle depth:  824.442131 
#   Seafloor depth:           -875.330585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282599 meters
#   Minimum depth: 872.837824 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.999628 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 822.837824 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368388;
longitude = -121.460761;
duration = 401;
initialDepth = 820.404177;
finalDepth = 822.837824;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.888454
#   Actual altitude:          50.888454
#   Commanded vehicle depth:  822.837824 
#   Seafloor depth:           -873.519604
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282694 meters
#   Minimum depth: 870.404177 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.247555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 820.404177 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368339;
longitude = -121.459659;
duration = 401;
initialDepth = 818.963739;
finalDepth = 820.404177;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9241510000001
#   Actual altitude:          51.9241510000001
#   Commanded vehicle depth:  820.404177 
#   Seafloor depth:           -872.328328
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282787 meters
#   Minimum depth: 868.963739 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.484844 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 818.963739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368291;
longitude = -121.458556;
duration = 401;
initialDepth = 817.160157;
finalDepth = 818.963739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9241510000001
#   Actual altitude:          51.9241510000001
#   Commanded vehicle depth:  818.963739 
#   Seafloor depth:           -869.834424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282883 meters
#   Minimum depth: 867.160157 meters looking forward 200.000000 meters along route
#   Maximum depth: 869.924758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 817.160157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368242;
longitude = -121.457454;
duration = 401;
initialDepth = 814.774886;
finalDepth = 817.160157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.386547
#   Actual altitude:          51.386547
#   Commanded vehicle depth:  817.160157 
#   Seafloor depth:           -868.546704
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.282976 meters
#   Minimum depth: 864.774886 meters looking forward 200.000000 meters along route
#   Maximum depth: 868.074232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 814.774886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368194;
longitude = -121.456352;
duration = 401;
initialDepth = 812.421762;
finalDepth = 814.774886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5150279999999
#   Actual altitude:          51.5150279999999
#   Commanded vehicle depth:  814.774886 
#   Seafloor depth:           -866.289914
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283071 meters
#   Minimum depth: 862.421762 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.433741 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 812.421762 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368146;
longitude = -121.455250;
duration = 401;
initialDepth = 810.534238;
finalDepth = 812.421762;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9599320000001
#   Actual altitude:          51.9599320000001
#   Commanded vehicle depth:  812.421762 
#   Seafloor depth:           -864.381694
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283165 meters
#   Minimum depth: 860.534238 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.791475 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 810.534238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368097;
longitude = -121.454148;
duration = 401;
initialDepth = 809.092110;
finalDepth = 810.534238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9599320000001
#   Actual altitude:          51.9599320000001
#   Commanded vehicle depth:  810.534238 
#   Seafloor depth:           -862.022759
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283260 meters
#   Minimum depth: 859.092110 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.583594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 809.092110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368049;
longitude = -121.453046;
duration = 401;
initialDepth = 806.581138;
finalDepth = 809.092110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.488521
#   Actual altitude:          51.488521
#   Commanded vehicle depth:  809.09211 
#   Seafloor depth:           -860.188471
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283354 meters
#   Minimum depth: 856.581138 meters looking forward 200.000000 meters along route
#   Maximum depth: 859.679527 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 806.581138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.368001;
longitude = -121.451944;
duration = 401;
initialDepth = 804.758627;
finalDepth = 806.581138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.960762
#   Actual altitude:          51.960762
#   Commanded vehicle depth:  806.581138 
#   Seafloor depth:           -858.541900
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283449 meters
#   Minimum depth: 854.758627 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.744058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 804.758627 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367952;
longitude = -121.450842;
duration = 401;
initialDepth = 802.610115;
finalDepth = 804.758627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.960762
#   Actual altitude:          51.960762
#   Commanded vehicle depth:  804.758627 
#   Seafloor depth:           -855.903209
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283543 meters
#   Minimum depth: 852.610115 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.973080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 802.610115 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367904;
longitude = -121.449740;
duration = 401;
initialDepth = 801.494180;
finalDepth = 802.610115;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.821416
#   Actual altitude:          51.821416
#   Commanded vehicle depth:  802.610115 
#   Seafloor depth:           -854.431531
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283637 meters
#   Minimum depth: 851.494180 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.831135 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 801.494180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367856;
longitude = -121.448638;
duration = 401;
initialDepth = 798.265089;
finalDepth = 801.494180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.821416
#   Actual altitude:          51.821416
#   Commanded vehicle depth:  801.49418 
#   Seafloor depth:           -852.553021
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283733 meters
#   Minimum depth: 848.265089 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.193777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 798.265089 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367807;
longitude = -121.447536;
duration = 401;
initialDepth = 796.363062;
finalDepth = 798.265089;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2889270000001
#   Actual altitude:          52.2889270000001
#   Commanded vehicle depth:  798.265089 
#   Seafloor depth:           -850.554016
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283827 meters
#   Minimum depth: 846.363062 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.034499 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 796.363062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367759;
longitude = -121.446433;
duration = 401;
initialDepth = 794.693588;
finalDepth = 796.363062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2889270000001
#   Actual altitude:          52.2889270000001
#   Commanded vehicle depth:  796.363062 
#   Seafloor depth:           -847.845283
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.283921 meters
#   Minimum depth: 844.693588 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.516727 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 794.693588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367711;
longitude = -121.445331;
duration = 401;
initialDepth = 791.337183;
finalDepth = 794.693588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.482221
#   Actual altitude:          51.482221
#   Commanded vehicle depth:  794.693588 
#   Seafloor depth:           -845.890791
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284016 meters
#   Minimum depth: 841.337183 meters looking forward 200.000000 meters along route
#   Maximum depth: 845.881734 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 791.337183 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367662;
longitude = -121.444229;
duration = 401;
initialDepth = 789.666261;
finalDepth = 791.337183;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8489520000001
#   Actual altitude:          51.8489520000001
#   Commanded vehicle depth:  791.337183 
#   Seafloor depth:           -843.186135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284111 meters
#   Minimum depth: 839.666261 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.111975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 789.666261 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367614;
longitude = -121.443127;
duration = 401;
initialDepth = 787.499307;
finalDepth = 789.666261;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8489520000001
#   Actual altitude:          51.8489520000001
#   Commanded vehicle depth:  789.666261 
#   Seafloor depth:           -841.309286
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284205 meters
#   Minimum depth: 837.499307 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.215190 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 787.499307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367566;
longitude = -121.442025;
duration = 401;
initialDepth = 786.150934;
finalDepth = 787.499307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.906663
#   Actual altitude:          51.906663
#   Commanded vehicle depth:  787.499307 
#   Seafloor depth:           -839.405970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284301 meters
#   Minimum depth: 836.150934 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.117127 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 786.150934 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367517;
longitude = -121.440923;
duration = 401;
initialDepth = 783.749365;
finalDepth = 786.150934;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.906663
#   Actual altitude:          51.906663
#   Commanded vehicle depth:  786.150934 
#   Seafloor depth:           -836.987965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284395 meters
#   Minimum depth: 833.749365 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.344317 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 783.749365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367469;
longitude = -121.439821;
duration = 401;
initialDepth = 781.577573;
finalDepth = 783.749365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.900882
#   Actual altitude:          51.900882
#   Commanded vehicle depth:  783.749365 
#   Seafloor depth:           -835.650247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284489 meters
#   Minimum depth: 831.577573 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.542261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 781.577573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367421;
longitude = -121.438719;
duration = 401;
initialDepth = 778.716232;
finalDepth = 781.577573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.900882
#   Actual altitude:          51.900882
#   Commanded vehicle depth:  781.577573 
#   Seafloor depth:           -833.323655
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284585 meters
#   Minimum depth: 828.716232 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.533059 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 778.716232 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367372;
longitude = -121.437617;
duration = 401;
initialDepth = 776.658946;
finalDepth = 778.716232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.039518
#   Actual altitude:          52.039518
#   Commanded vehicle depth:  778.716232 
#   Seafloor depth:           -830.755750
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284679 meters
#   Minimum depth: 826.658946 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.857366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 776.658946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367324;
longitude = -121.436515;
duration = 401;
initialDepth = 774.615795;
finalDepth = 776.658946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.039518
#   Actual altitude:          52.039518
#   Commanded vehicle depth:  776.658946 
#   Seafloor depth:           -828.688584
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284774 meters
#   Minimum depth: 824.615795 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.105598 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 774.615795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367276;
longitude = -121.435413;
duration = 401;
initialDepth = 772.653298;
finalDepth = 774.615795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.029638
#   Actual altitude:          52.029638
#   Commanded vehicle depth:  774.615795 
#   Seafloor depth:           -826.335693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284869 meters
#   Minimum depth: 822.653298 meters looking forward 200.000000 meters along route
#   Maximum depth: 825.822953 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 772.653298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367227;
longitude = -121.434310;
duration = 401;
initialDepth = 770.220688;
finalDepth = 772.653298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9281030000001
#   Actual altitude:          51.9281030000001
#   Commanded vehicle depth:  772.653298 
#   Seafloor depth:           -824.581401
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.284964 meters
#   Minimum depth: 820.220688 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.683710 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 770.220688 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367179;
longitude = -121.433208;
duration = 401;
initialDepth = 767.622885;
finalDepth = 770.220688;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9281030000001
#   Actual altitude:          51.9281030000001
#   Commanded vehicle depth:  770.220688 
#   Seafloor depth:           -821.877508
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285059 meters
#   Minimum depth: 817.622885 meters looking forward 200.000000 meters along route
#   Maximum depth: 821.084211 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 767.622885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367130;
longitude = -121.432106;
duration = 401;
initialDepth = 765.343224;
finalDepth = 767.622885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.172507
#   Actual altitude:          52.172507
#   Commanded vehicle depth:  767.622885 
#   Seafloor depth:           -819.795392
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285153 meters
#   Minimum depth: 815.343224 meters looking forward 200.000000 meters along route
#   Maximum depth: 819.067507 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 765.343224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367082;
longitude = -121.431004;
duration = 401;
initialDepth = 763.490468;
finalDepth = 765.343224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.172507
#   Actual altitude:          52.172507
#   Commanded vehicle depth:  765.343224 
#   Seafloor depth:           -817.104377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285249 meters
#   Minimum depth: 813.490468 meters looking forward 200.000000 meters along route
#   Maximum depth: 816.539425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 763.490468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.367034;
longitude = -121.429902;
duration = 401;
initialDepth = 760.735401;
finalDepth = 763.490468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.761153
#   Actual altitude:          51.761153
#   Commanded vehicle depth:  763.490468 
#   Seafloor depth:           -814.897239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285344 meters
#   Minimum depth: 810.735401 meters looking forward 200.000000 meters along route
#   Maximum depth: 814.612349 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 760.735401 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366985;
longitude = -121.428800;
duration = 401;
initialDepth = 757.740816;
finalDepth = 760.735401;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.010955
#   Actual altitude:          52.010955
#   Commanded vehicle depth:  760.735401 
#   Seafloor depth:           -812.746356
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285438 meters
#   Minimum depth: 807.740816 meters looking forward 200.000000 meters along route
#   Maximum depth: 811.993552 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 757.740816 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366937;
longitude = -121.427698;
duration = 401;
initialDepth = 755.848598;
finalDepth = 757.740816;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.408196
#   Actual altitude:          52.408196
#   Commanded vehicle depth:  757.740816 
#   Seafloor depth:           -810.149012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285534 meters
#   Minimum depth: 805.848598 meters looking forward 200.000000 meters along route
#   Maximum depth: 809.298763 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 755.848598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366889;
longitude = -121.426596;
duration = 401;
initialDepth = 753.603125;
finalDepth = 755.848598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.408196
#   Actual altitude:          52.408196
#   Commanded vehicle depth:  755.848598 
#   Seafloor depth:           -807.655089
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285629 meters
#   Minimum depth: 803.603125 meters looking forward 200.000000 meters along route
#   Maximum depth: 807.473427 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 753.603125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366840;
longitude = -121.425494;
duration = 401;
initialDepth = 751.216822;
finalDepth = 753.603125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8064909999999
#   Actual altitude:          51.8064909999999
#   Commanded vehicle depth:  753.603125 
#   Seafloor depth:           -805.405919
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285724 meters
#   Minimum depth: 801.216822 meters looking forward 200.000000 meters along route
#   Maximum depth: 804.601080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 751.216822 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366792;
longitude = -121.424392;
duration = 401;
initialDepth = 748.443241;
finalDepth = 751.216822;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8027940000001
#   Actual altitude:          51.8027940000001
#   Commanded vehicle depth:  751.216822 
#   Seafloor depth:           -802.935822
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285819 meters
#   Minimum depth: 798.443241 meters looking forward 200.000000 meters along route
#   Maximum depth: 802.191503 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 748.443241 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366744;
longitude = -121.423290;
duration = 401;
initialDepth = 746.113358;
finalDepth = 748.443241;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.045298
#   Actual altitude:          52.045298
#   Commanded vehicle depth:  748.443241 
#   Seafloor depth:           -800.488539
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.285914 meters
#   Minimum depth: 796.113358 meters looking forward 200.000000 meters along route
#   Maximum depth: 799.790867 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 746.113358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366695;
longitude = -121.422187;
duration = 401;
initialDepth = 743.488598;
finalDepth = 746.113358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.045298
#   Actual altitude:          52.045298
#   Commanded vehicle depth:  746.113358 
#   Seafloor depth:           -797.939766
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286009 meters
#   Minimum depth: 793.488598 meters looking forward 200.000000 meters along route
#   Maximum depth: 797.408827 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 743.488598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366647;
longitude = -121.421085;
duration = 401;
initialDepth = 741.081702;
finalDepth = 743.488598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.826408
#   Actual altitude:          51.826408
#   Commanded vehicle depth:  743.488598 
#   Seafloor depth:           -795.250308
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286105 meters
#   Minimum depth: 791.081702 meters looking forward 200.000000 meters along route
#   Maximum depth: 795.399370 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 741.081702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366599;
longitude = -121.419983;
duration = 401;
initialDepth = 738.951003;
finalDepth = 741.081702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.906511
#   Actual altitude:          51.906511
#   Commanded vehicle depth:  741.081702 
#   Seafloor depth:           -792.988213
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286199 meters
#   Minimum depth: 788.951003 meters looking forward 200.000000 meters along route
#   Maximum depth: 792.470224 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 738.951003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366550;
longitude = -121.418881;
duration = 401;
initialDepth = 736.027731;
finalDepth = 738.951003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.906511
#   Actual altitude:          51.906511
#   Commanded vehicle depth:  738.951003 
#   Seafloor depth:           -790.706612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286295 meters
#   Minimum depth: 786.027731 meters looking forward 200.000000 meters along route
#   Maximum depth: 789.986136 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 736.027731 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366502;
longitude = -121.417779;
duration = 401;
initialDepth = 733.507124;
finalDepth = 736.027731;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0356909999999
#   Actual altitude:          52.0356909999999
#   Commanded vehicle depth:  736.027731 
#   Seafloor depth:           -788.063422
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286390 meters
#   Minimum depth: 783.507124 meters looking forward 200.000000 meters along route
#   Maximum depth: 787.335363 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 733.507124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366454;
longitude = -121.416677;
duration = 401;
initialDepth = 730.948173;
finalDepth = 733.507124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0356909999999
#   Actual altitude:          52.0356909999999
#   Commanded vehicle depth:  733.507124 
#   Seafloor depth:           -785.386779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286486 meters
#   Minimum depth: 780.948173 meters looking forward 200.000000 meters along route
#   Maximum depth: 784.715434 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 730.948173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366405;
longitude = -121.415575;
duration = 401;
initialDepth = 728.167138;
finalDepth = 730.948173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8796550000001
#   Actual altitude:          51.8796550000001
#   Commanded vehicle depth:  730.948173 
#   Seafloor depth:           -782.396859
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286581 meters
#   Minimum depth: 778.167138 meters looking forward 200.000000 meters along route
#   Maximum depth: 781.749434 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 728.167138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366357;
longitude = -121.414473;
duration = 401;
initialDepth = 725.389237;
finalDepth = 728.167138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.033878
#   Actual altitude:          52.033878
#   Commanded vehicle depth:  728.167138 
#   Seafloor depth:           -780.201016
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286676 meters
#   Minimum depth: 775.389237 meters looking forward 200.000000 meters along route
#   Maximum depth: 779.468059 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 725.389237 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366309;
longitude = -121.413371;
duration = 401;
initialDepth = 722.730374;
finalDepth = 725.389237;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.033878
#   Actual altitude:          52.033878
#   Commanded vehicle depth:  725.389237 
#   Seafloor depth:           -777.296866
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286771 meters
#   Minimum depth: 772.730374 meters looking forward 200.000000 meters along route
#   Maximum depth: 776.723008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 722.730374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366260;
longitude = -121.412269;
duration = 401;
initialDepth = 719.749533;
finalDepth = 722.730374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.907629
#   Actual altitude:          51.907629
#   Commanded vehicle depth:  722.730374 
#   Seafloor depth:           -774.602225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286867 meters
#   Minimum depth: 769.749533 meters looking forward 200.000000 meters along route
#   Maximum depth: 774.181013 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 719.749533 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366212;
longitude = -121.411167;
duration = 401;
initialDepth = 717.173788;
finalDepth = 719.749533;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.427278
#   Actual altitude:          52.427278
#   Commanded vehicle depth:  719.749533 
#   Seafloor depth:           -772.176811
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.286962 meters
#   Minimum depth: 767.173788 meters looking forward 200.000000 meters along route
#   Maximum depth: 771.644095 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 717.173788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366164;
longitude = -121.410064;
duration = 401;
initialDepth = 714.514150;
finalDepth = 717.173788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.427278
#   Actual altitude:          52.427278
#   Commanded vehicle depth:  717.173788 
#   Seafloor depth:           -769.282505
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287058 meters
#   Minimum depth: 764.514150 meters looking forward 200.000000 meters along route
#   Maximum depth: 768.754912 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 714.514150 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366115;
longitude = -121.408962;
duration = 401;
initialDepth = 711.826676;
finalDepth = 714.514150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.128007
#   Actual altitude:          52.128007
#   Commanded vehicle depth:  714.51415 
#   Seafloor depth:           -766.642157
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287153 meters
#   Minimum depth: 761.826676 meters looking forward 200.000000 meters along route
#   Maximum depth: 765.840957 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 711.826676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366067;
longitude = -121.407860;
duration = 401;
initialDepth = 709.410712;
finalDepth = 711.826676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.547374
#   Actual altitude:          52.547374
#   Commanded vehicle depth:  711.826676 
#   Seafloor depth:           -764.374050
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287249 meters
#   Minimum depth: 759.410712 meters looking forward 200.000000 meters along route
#   Maximum depth: 763.550036 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 709.410712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.366019;
longitude = -121.406758;
duration = 401;
initialDepth = 706.444018;
finalDepth = 709.410712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.547374
#   Actual altitude:          52.547374
#   Commanded vehicle depth:  709.410712 
#   Seafloor depth:           -761.107693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287344 meters
#   Minimum depth: 756.444018 meters looking forward 200.000000 meters along route
#   Maximum depth: 760.472078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 706.444018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365970;
longitude = -121.405656;
duration = 401;
initialDepth = 703.614718;
finalDepth = 706.444018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.174122
#   Actual altitude:          52.174122
#   Commanded vehicle depth:  706.444018 
#   Seafloor depth:           -758.618140
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287440 meters
#   Minimum depth: 753.614718 meters looking forward 200.000000 meters along route
#   Maximum depth: 757.791531 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 703.614718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365922;
longitude = -121.404554;
duration = 401;
initialDepth = 700.916200;
finalDepth = 703.614718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.174122
#   Actual altitude:          52.174122
#   Commanded vehicle depth:  703.614718 
#   Seafloor depth:           -755.505266
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287535 meters
#   Minimum depth: 750.916200 meters looking forward 200.000000 meters along route
#   Maximum depth: 755.074921 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 700.916200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365873;
longitude = -121.403452;
duration = 401;
initialDepth = 697.687641;
finalDepth = 700.916200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0965629999999
#   Actual altitude:          52.0965629999999
#   Commanded vehicle depth:  700.9162 
#   Seafloor depth:           -753.012763
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287631 meters
#   Minimum depth: 747.687641 meters looking forward 200.000000 meters along route
#   Maximum depth: 752.310416 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 697.687641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365825;
longitude = -121.402350;
duration = 401;
initialDepth = 694.124943;
finalDepth = 697.687641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.687328
#   Actual altitude:          52.687328
#   Commanded vehicle depth:  697.687641 
#   Seafloor depth:           -750.374969
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287726 meters
#   Minimum depth: 744.124943 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.425325 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 694.124943 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365777;
longitude = -121.401248;
duration = 401;
initialDepth = 692.308281;
finalDepth = 694.124943;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.221219
#   Actual altitude:          53.221219
#   Commanded vehicle depth:  694.124943 
#   Seafloor depth:           -747.346162
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287822 meters
#   Minimum depth: 742.308281 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.678205 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 692.308281 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365728;
longitude = -121.400146;
duration = 401;
initialDepth = 689.554796;
finalDepth = 692.308281;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.221219
#   Actual altitude:          53.221219
#   Commanded vehicle depth:  692.308281 
#   Seafloor depth:           -743.775304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.287918 meters
#   Minimum depth: 739.554796 meters looking forward 200.000000 meters along route
#   Maximum depth: 743.372330 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 689.554796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365680;
longitude = -121.399043;
duration = 401;
initialDepth = 687.053962;
finalDepth = 689.554796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0763049999999
#   Actual altitude:          52.0763049999999
#   Commanded vehicle depth:  689.554796 
#   Seafloor depth:           -741.631101
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288013 meters
#   Minimum depth: 737.053962 meters looking forward 200.000000 meters along route
#   Maximum depth: 740.938469 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 687.053962 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365632;
longitude = -121.397941;
duration = 401;
initialDepth = 683.927908;
finalDepth = 687.053962;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0763049999999
#   Actual altitude:          52.0763049999999
#   Commanded vehicle depth:  687.053962 
#   Seafloor depth:           -738.764671
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288109 meters
#   Minimum depth: 733.927908 meters looking forward 200.000000 meters along route
#   Maximum depth: 738.192980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 683.927908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365583;
longitude = -121.396839;
duration = 401;
initialDepth = 681.215128;
finalDepth = 683.927908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.104014
#   Actual altitude:          52.104014
#   Commanded vehicle depth:  683.927908 
#   Seafloor depth:           -736.031922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288205 meters
#   Minimum depth: 731.215128 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.369418 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 681.215128 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365535;
longitude = -121.395737;
duration = 401;
initialDepth = 678.514071;
finalDepth = 681.215128;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.104014
#   Actual altitude:          52.104014
#   Commanded vehicle depth:  681.215128 
#   Seafloor depth:           -733.181158
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288301 meters
#   Minimum depth: 728.514071 meters looking forward 200.000000 meters along route
#   Maximum depth: 732.540032 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 678.514071 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365487;
longitude = -121.394635;
duration = 401;
initialDepth = 675.676998;
finalDepth = 678.514071;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9660299999999
#   Actual altitude:          51.9660299999999
#   Commanded vehicle depth:  678.514071 
#   Seafloor depth:           -730.072123
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288396 meters
#   Minimum depth: 725.676998 meters looking forward 200.000000 meters along route
#   Maximum depth: 729.615847 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 675.676998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365438;
longitude = -121.393533;
duration = 401;
initialDepth = 673.161697;
finalDepth = 675.676998;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1201
#   Actual altitude:          52.1201
#   Commanded vehicle depth:  675.676998 
#   Seafloor depth:           -727.797098
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288492 meters
#   Minimum depth: 723.161697 meters looking forward 200.000000 meters along route
#   Maximum depth: 727.165450 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 673.161697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365390;
longitude = -121.392431;
duration = 401;
initialDepth = 670.245014;
finalDepth = 673.161697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1201
#   Actual altitude:          52.1201
#   Commanded vehicle depth:  673.161697 
#   Seafloor depth:           -725.175257
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288588 meters
#   Minimum depth: 720.245014 meters looking forward 200.000000 meters along route
#   Maximum depth: 724.656638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 670.245014 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365342;
longitude = -121.391329;
duration = 401;
initialDepth = 667.472436;
finalDepth = 670.245014;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.01356
#   Actual altitude:          52.01356
#   Commanded vehicle depth:  670.245014 
#   Seafloor depth:           -722.242934
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288684 meters
#   Minimum depth: 717.472436 meters looking forward 200.000000 meters along route
#   Maximum depth: 721.610954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 667.472436 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365293;
longitude = -121.390227;
duration = 401;
initialDepth = 665.091826;
finalDepth = 667.472436;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.027064
#   Actual altitude:          52.027064
#   Commanded vehicle depth:  667.472436 
#   Seafloor depth:           -719.499500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288780 meters
#   Minimum depth: 715.091826 meters looking forward 200.000000 meters along route
#   Maximum depth: 719.162432 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 665.091826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365245;
longitude = -121.389125;
duration = 401;
initialDepth = 662.017271;
finalDepth = 665.091826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.027064
#   Actual altitude:          52.027064
#   Commanded vehicle depth:  665.091826 
#   Seafloor depth:           -716.733222
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288876 meters
#   Minimum depth: 712.017271 meters looking forward 200.000000 meters along route
#   Maximum depth: 716.364133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 662.017271 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365197;
longitude = -121.388023;
duration = 401;
initialDepth = 659.307266;
finalDepth = 662.017271;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2782669999999
#   Actual altitude:          52.2782669999999
#   Commanded vehicle depth:  662.017271 
#   Seafloor depth:           -714.295538
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.288971 meters
#   Minimum depth: 709.307266 meters looking forward 200.000000 meters along route
#   Maximum depth: 713.460152 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 659.307266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365148;
longitude = -121.386920;
duration = 401;
initialDepth = 656.569758;
finalDepth = 659.307266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2782669999999
#   Actual altitude:          52.2782669999999
#   Commanded vehicle depth:  659.307266 
#   Seafloor depth:           -711.314133
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289068 meters
#   Minimum depth: 706.569758 meters looking forward 200.000000 meters along route
#   Maximum depth: 710.646471 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 656.569758 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365100;
longitude = -121.385818;
duration = 401;
initialDepth = 654.063775;
finalDepth = 656.569758;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.071682
#   Actual altitude:          52.071682
#   Commanded vehicle depth:  656.569758 
#   Seafloor depth:           -708.641440
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289163 meters
#   Minimum depth: 704.063775 meters looking forward 200.000000 meters along route
#   Maximum depth: 707.906455 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 654.063775 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365052;
longitude = -121.384716;
duration = 401;
initialDepth = 650.646402;
finalDepth = 654.063775;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.076778
#   Actual altitude:          52.076778
#   Commanded vehicle depth:  654.063775 
#   Seafloor depth:           -706.140553
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289260 meters
#   Minimum depth: 700.646402 meters looking forward 200.000000 meters along route
#   Maximum depth: 705.421245 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 650.646402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.365003;
longitude = -121.383614;
duration = 401;
initialDepth = 648.526223;
finalDepth = 650.646402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5401770000001
#   Actual altitude:          52.5401770000001
#   Commanded vehicle depth:  650.646402 
#   Seafloor depth:           -703.186579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289355 meters
#   Minimum depth: 698.526223 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.611951 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 648.526223 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364955;
longitude = -121.382512;
duration = 401;
initialDepth = 646.409299;
finalDepth = 648.526223;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5401770000001
#   Actual altitude:          52.5401770000001
#   Commanded vehicle depth:  648.526223 
#   Seafloor depth:           -700.645064
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289452 meters
#   Minimum depth: 696.409299 meters looking forward 200.000000 meters along route
#   Maximum depth: 699.759593 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 646.409299 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364907;
longitude = -121.381410;
duration = 401;
initialDepth = 643.524486;
finalDepth = 646.409299;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.1188410000001
#   Actual altitude:          52.1188410000001
#   Commanded vehicle depth:  646.409299 
#   Seafloor depth:           -697.952384
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289548 meters
#   Minimum depth: 693.524486 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.570520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 643.524486 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364858;
longitude = -121.380308;
duration = 401;
initialDepth = 641.449348;
finalDepth = 643.524486;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.229919
#   Actual altitude:          52.229919
#   Commanded vehicle depth:  643.524486 
#   Seafloor depth:           -695.754405
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289644 meters
#   Minimum depth: 691.449348 meters looking forward 200.000000 meters along route
#   Maximum depth: 695.012918 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 641.449348 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364810;
longitude = -121.379206;
duration = 401;
initialDepth = 638.835188;
finalDepth = 641.449348;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.229919
#   Actual altitude:          52.229919
#   Commanded vehicle depth:  641.449348 
#   Seafloor depth:           -693.140349
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289740 meters
#   Minimum depth: 688.835188 meters looking forward 200.000000 meters along route
#   Maximum depth: 692.366683 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 638.835188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364761;
longitude = -121.378104;
duration = 401;
initialDepth = 636.141331;
finalDepth = 638.835188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.767605
#   Actual altitude:          51.767605
#   Commanded vehicle depth:  638.835188 
#   Seafloor depth:           -690.602793
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289836 meters
#   Minimum depth: 686.141331 meters looking forward 200.000000 meters along route
#   Maximum depth: 690.044207 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 636.141331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364713;
longitude = -121.377002;
duration = 401;
initialDepth = 633.849553;
finalDepth = 636.141331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8565749999999
#   Actual altitude:          51.8565749999999
#   Commanded vehicle depth:  636.141331 
#   Seafloor depth:           -687.997906
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.289932 meters
#   Minimum depth: 683.849553 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.244621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 633.849553 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364665;
longitude = -121.375900;
duration = 401;
initialDepth = 631.217081;
finalDepth = 633.849553;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8565749999999
#   Actual altitude:          51.8565749999999
#   Commanded vehicle depth:  633.849553 
#   Seafloor depth:           -685.163878
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290028 meters
#   Minimum depth: 681.217081 meters looking forward 200.000000 meters along route
#   Maximum depth: 684.844724 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 631.217081 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364616;
longitude = -121.374797;
duration = 401;
initialDepth = 629.025027;
finalDepth = 631.217081;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.687123
#   Actual altitude:          51.687123
#   Commanded vehicle depth:  631.217081 
#   Seafloor depth:           -682.904204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290125 meters
#   Minimum depth: 679.025027 meters looking forward 200.000000 meters along route
#   Maximum depth: 682.248536 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 629.025027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364568;
longitude = -121.373695;
duration = 401;
initialDepth = 625.638838;
finalDepth = 629.025027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6904929999999
#   Actual altitude:          51.6904929999999
#   Commanded vehicle depth:  629.025027 
#   Seafloor depth:           -680.715520
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290221 meters
#   Minimum depth: 675.638838 meters looking forward 200.000000 meters along route
#   Maximum depth: 679.848467 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 625.638838 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364520;
longitude = -121.372593;
duration = 401;
initialDepth = 623.292124;
finalDepth = 625.638838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.275979
#   Actual altitude:          52.275979
#   Commanded vehicle depth:  625.638838 
#   Seafloor depth:           -677.914817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290317 meters
#   Minimum depth: 673.292124 meters looking forward 200.000000 meters along route
#   Maximum depth: 677.290262 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 623.292124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364471;
longitude = -121.371491;
duration = 401;
initialDepth = 620.782053;
finalDepth = 623.292124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.275979
#   Actual altitude:          52.275979
#   Commanded vehicle depth:  623.292124 
#   Seafloor depth:           -675.391501
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290414 meters
#   Minimum depth: 670.782053 meters looking forward 200.000000 meters along route
#   Maximum depth: 674.698466 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 620.782053 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364423;
longitude = -121.370389;
duration = 401;
initialDepth = 618.300638;
finalDepth = 620.782053;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.099377
#   Actual altitude:          52.099377
#   Commanded vehicle depth:  620.782053 
#   Seafloor depth:           -672.636436
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290510 meters
#   Minimum depth: 668.300638 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.085838 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 618.300638 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364375;
longitude = -121.369287;
duration = 401;
initialDepth = 615.928498;
finalDepth = 618.300638;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.046307
#   Actual altitude:          52.046307
#   Commanded vehicle depth:  618.300638 
#   Seafloor depth:           -670.346945
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290606 meters
#   Minimum depth: 665.928498 meters looking forward 200.000000 meters along route
#   Maximum depth: 669.853986 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 615.928498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364326;
longitude = -121.368185;
duration = 401;
initialDepth = 613.393280;
finalDepth = 615.928498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.046307
#   Actual altitude:          52.046307
#   Commanded vehicle depth:  615.928498 
#   Seafloor depth:           -667.888334
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290703 meters
#   Minimum depth: 663.393280 meters looking forward 200.000000 meters along route
#   Maximum depth: 667.396659 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 613.393280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364278;
longitude = -121.367083;
duration = 401;
initialDepth = 611.202264;
finalDepth = 613.393280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.959836
#   Actual altitude:          51.959836
#   Commanded vehicle depth:  613.39328 
#   Seafloor depth:           -665.168641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290799 meters
#   Minimum depth: 661.202264 meters looking forward 200.000000 meters along route
#   Maximum depth: 664.625637 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 611.202264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364230;
longitude = -121.365981;
duration = 401;
initialDepth = 609.521187;
finalDepth = 611.202264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.775361
#   Actual altitude:          51.775361
#   Commanded vehicle depth:  611.202264 
#   Seafloor depth:           -662.919196
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290895 meters
#   Minimum depth: 659.521187 meters looking forward 200.000000 meters along route
#   Maximum depth: 661.920983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 609.521187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364181;
longitude = -121.364879;
duration = 401;
initialDepth = 606.555337;
finalDepth = 609.521187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.716932
#   Actual altitude:          51.716932
#   Commanded vehicle depth:  609.521187 
#   Seafloor depth:           -660.611404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.290992 meters
#   Minimum depth: 656.555337 meters looking forward 200.000000 meters along route
#   Maximum depth: 660.417992 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 606.555337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364133;
longitude = -121.363777;
duration = 401;
initialDepth = 604.168378;
finalDepth = 606.555337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.304846
#   Actual altitude:          52.304846
#   Commanded vehicle depth:  606.555337 
#   Seafloor depth:           -658.860183
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291088 meters
#   Minimum depth: 654.168378 meters looking forward 200.000000 meters along route
#   Maximum depth: 658.565847 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 604.168378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364085;
longitude = -121.362674;
duration = 401;
initialDepth = 600.937741;
finalDepth = 604.168378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.304846
#   Actual altitude:          52.304846
#   Commanded vehicle depth:  604.168378 
#   Seafloor depth:           -656.343047
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291185 meters
#   Minimum depth: 650.937741 meters looking forward 200.000000 meters along route
#   Maximum depth: 655.374583 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 600.937741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.364036;
longitude = -121.361572;
duration = 401;
initialDepth = 598.518123;
finalDepth = 600.937741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.615399
#   Actual altitude:          52.615399
#   Commanded vehicle depth:  600.937741 
#   Seafloor depth:           -653.553140
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291282 meters
#   Minimum depth: 648.518123 meters looking forward 200.000000 meters along route
#   Maximum depth: 652.505386 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 598.518123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363988;
longitude = -121.360470;
duration = 401;
initialDepth = 596.760506;
finalDepth = 598.518123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.615399
#   Actual altitude:          52.615399
#   Commanded vehicle depth:  598.518123 
#   Seafloor depth:           -650.685631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291378 meters
#   Minimum depth: 646.760506 meters looking forward 200.000000 meters along route
#   Maximum depth: 650.432929 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 596.760506 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363940;
longitude = -121.359368;
duration = 401;
initialDepth = 594.290091;
finalDepth = 596.760506;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.167508
#   Actual altitude:          52.167508
#   Commanded vehicle depth:  596.760506 
#   Seafloor depth:           -648.387327
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291474 meters
#   Minimum depth: 644.290091 meters looking forward 200.000000 meters along route
#   Maximum depth: 647.900185 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 594.290091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363891;
longitude = -121.358266;
duration = 401;
initialDepth = 592.122296;
finalDepth = 594.290091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4497200000001
#   Actual altitude:          52.4497200000001
#   Commanded vehicle depth:  594.290091 
#   Seafloor depth:           -646.739811
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291571 meters
#   Minimum depth: 642.122296 meters looking forward 200.000000 meters along route
#   Maximum depth: 645.713362 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 592.122296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363843;
longitude = -121.357164;
duration = 401;
initialDepth = 590.047659;
finalDepth = 592.122296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4497200000001
#   Actual altitude:          52.4497200000001
#   Commanded vehicle depth:  592.122296 
#   Seafloor depth:           -644.331817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291668 meters
#   Minimum depth: 640.047659 meters looking forward 200.000000 meters along route
#   Maximum depth: 643.641057 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 590.047659 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363795;
longitude = -121.356062;
duration = 401;
initialDepth = 587.237441;
finalDepth = 590.047659;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.209521
#   Actual altitude:          52.209521
#   Commanded vehicle depth:  590.047659 
#   Seafloor depth:           -641.313495
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291764 meters
#   Minimum depth: 637.237441 meters looking forward 200.000000 meters along route
#   Maximum depth: 641.020496 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 587.237441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363746;
longitude = -121.354960;
duration = 401;
initialDepth = 585.297055;
finalDepth = 587.237441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.253026
#   Actual altitude:          52.253026
#   Commanded vehicle depth:  587.237441 
#   Seafloor depth:           -639.490467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291862 meters
#   Minimum depth: 635.297055 meters looking forward 200.000000 meters along route
#   Maximum depth: 638.419528 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 585.297055 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363698;
longitude = -121.353858;
duration = 401;
initialDepth = 583.176349;
finalDepth = 585.297055;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.253026
#   Actual altitude:          52.253026
#   Commanded vehicle depth:  585.297055 
#   Seafloor depth:           -637.046024
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.291957 meters
#   Minimum depth: 633.176349 meters looking forward 200.000000 meters along route
#   Maximum depth: 636.784952 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 583.176349 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363650;
longitude = -121.352756;
duration = 401;
initialDepth = 579.709788;
finalDepth = 583.176349;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.748969
#   Actual altitude:          51.748969
#   Commanded vehicle depth:  583.176349 
#   Seafloor depth:           -634.813066
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292055 meters
#   Minimum depth: 629.709788 meters looking forward 200.000000 meters along route
#   Maximum depth: 634.511579 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 579.709788 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363601;
longitude = -121.351654;
duration = 401;
initialDepth = 578.304865;
finalDepth = 579.709788;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.091087
#   Actual altitude:          53.091087
#   Commanded vehicle depth:  579.709788 
#   Seafloor depth:           -632.800875
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292151 meters
#   Minimum depth: 628.304865 meters looking forward 200.000000 meters along route
#   Maximum depth: 632.198983 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 578.304865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363553;
longitude = -121.350551;
duration = 401;
initialDepth = 576.098214;
finalDepth = 578.304865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.091087
#   Actual altitude:          53.091087
#   Commanded vehicle depth:  578.304865 
#   Seafloor depth:           -630.451018
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292248 meters
#   Minimum depth: 626.098214 meters looking forward 200.000000 meters along route
#   Maximum depth: 629.424079 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 576.098214 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363504;
longitude = -121.349449;
duration = 401;
initialDepth = 573.917961;
finalDepth = 576.098214;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.146153
#   Actual altitude:          52.146153
#   Commanded vehicle depth:  576.098214 
#   Seafloor depth:           -628.108065
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292345 meters
#   Minimum depth: 623.917961 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.241414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 573.917961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363456;
longitude = -121.348347;
duration = 401;
initialDepth = 570.870841;
finalDepth = 573.917961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.009851
#   Actual altitude:          52.009851
#   Commanded vehicle depth:  573.917961 
#   Seafloor depth:           -625.863779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292442 meters
#   Minimum depth: 620.870841 meters looking forward 200.000000 meters along route
#   Maximum depth: 625.548190 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 570.870841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363408;
longitude = -121.347245;
duration = 401;
initialDepth = 569.564596;
finalDepth = 570.870841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.75401
#   Actual altitude:          52.75401
#   Commanded vehicle depth:  570.870841 
#   Seafloor depth:           -623.624851
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292538 meters
#   Minimum depth: 619.564596 meters looking forward 200.000000 meters along route
#   Maximum depth: 622.536532 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 569.564596 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363359;
longitude = -121.346143;
duration = 401;
initialDepth = 567.109155;
finalDepth = 569.564596;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.75401
#   Actual altitude:          52.75401
#   Commanded vehicle depth:  569.564596 
#   Seafloor depth:           -621.406377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292636 meters
#   Minimum depth: 617.109155 meters looking forward 200.000000 meters along route
#   Maximum depth: 620.751337 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 567.109155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363311;
longitude = -121.345041;
duration = 401;
initialDepth = 564.578543;
finalDepth = 567.109155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.771517
#   Actual altitude:          52.771517
#   Commanded vehicle depth:  567.109155 
#   Seafloor depth:           -619.880672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292732 meters
#   Minimum depth: 614.578543 meters looking forward 200.000000 meters along route
#   Maximum depth: 618.811159 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 564.578543 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363263;
longitude = -121.343939;
duration = 401;
initialDepth = 562.747435;
finalDepth = 564.578543;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.771517
#   Actual altitude:          52.771517
#   Commanded vehicle depth:  564.578543 
#   Seafloor depth:           -616.141856
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292829 meters
#   Minimum depth: 612.747435 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.893956 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 562.747435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363214;
longitude = -121.342837;
duration = 401;
initialDepth = 560.533448;
finalDepth = 562.747435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6498320000001
#   Actual altitude:          51.6498320000001
#   Commanded vehicle depth:  562.747435 
#   Seafloor depth:           -614.397267
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.292926 meters
#   Minimum depth: 610.533448 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.073876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 560.533448 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363166;
longitude = -121.341735;
duration = 401;
initialDepth = 557.758252;
finalDepth = 560.533448;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6498320000001
#   Actual altitude:          51.6498320000001
#   Commanded vehicle depth:  560.533448 
#   Seafloor depth:           -612.049137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293024 meters
#   Minimum depth: 607.758252 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.360747 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 557.758252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363118;
longitude = -121.340633;
duration = 401;
initialDepth = 555.511036;
finalDepth = 557.758252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4326160000001
#   Actual altitude:          52.4326160000001
#   Commanded vehicle depth:  557.758252 
#   Seafloor depth:           -610.190868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293120 meters
#   Minimum depth: 605.511036 meters looking forward 200.000000 meters along route
#   Maximum depth: 609.586086 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 555.511036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363069;
longitude = -121.339531;
duration = 401;
initialDepth = 553.879639;
finalDepth = 555.511036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4326160000001
#   Actual altitude:          52.4326160000001
#   Commanded vehicle depth:  555.511036 
#   Seafloor depth:           -607.892821
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293217 meters
#   Minimum depth: 603.879639 meters looking forward 200.000000 meters along route
#   Maximum depth: 607.068756 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 553.879639 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.363021;
longitude = -121.338428;
duration = 401;
initialDepth = 551.796027;
finalDepth = 553.879639;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.381785
#   Actual altitude:          52.381785
#   Commanded vehicle depth:  553.879639 
#   Seafloor depth:           -605.349023
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293314 meters
#   Minimum depth: 601.796027 meters looking forward 200.000000 meters along route
#   Maximum depth: 605.092763 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 551.796027 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362973;
longitude = -121.337326;
duration = 401;
initialDepth = 549.263222;
finalDepth = 551.796027;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.469384
#   Actual altitude:          51.469384
#   Commanded vehicle depth:  551.796027 
#   Seafloor depth:           -603.162931
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293412 meters
#   Minimum depth: 599.263222 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.556822 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 549.263222 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362924;
longitude = -121.336224;
duration = 401;
initialDepth = 547.255293;
finalDepth = 549.263222;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.802813
#   Actual altitude:          51.802813
#   Commanded vehicle depth:  549.263222 
#   Seafloor depth:           -601.066035
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293508 meters
#   Minimum depth: 597.255293 meters looking forward 200.000000 meters along route
#   Maximum depth: 600.458293 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 547.255293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362876;
longitude = -121.335122;
duration = 401;
initialDepth = 545.691459;
finalDepth = 547.255293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.802813
#   Actual altitude:          51.802813
#   Commanded vehicle depth:  547.255293 
#   Seafloor depth:           -598.997800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293606 meters
#   Minimum depth: 595.691459 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.440782 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 545.691459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362828;
longitude = -121.334020;
duration = 401;
initialDepth = 543.357525;
finalDepth = 545.691459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7425069999999
#   Actual altitude:          51.7425069999999
#   Commanded vehicle depth:  545.691459 
#   Seafloor depth:           -597.103902
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293702 meters
#   Minimum depth: 593.357525 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.614065 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 543.357525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362779;
longitude = -121.332918;
duration = 401;
initialDepth = 541.284424;
finalDepth = 543.357525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.776307
#   Actual altitude:          51.776307
#   Commanded vehicle depth:  543.357525 
#   Seafloor depth:           -595.133832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293800 meters
#   Minimum depth: 591.284424 meters looking forward 200.000000 meters along route
#   Maximum depth: 594.198363 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 541.284424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362731;
longitude = -121.331816;
duration = 401;
initialDepth = 539.292295;
finalDepth = 541.284424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.776307
#   Actual altitude:          51.776307
#   Commanded vehicle depth:  541.284424 
#   Seafloor depth:           -592.817149
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293897 meters
#   Minimum depth: 589.292295 meters looking forward 200.000000 meters along route
#   Maximum depth: 592.381530 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 539.292295 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362683;
longitude = -121.330714;
duration = 401;
initialDepth = 537.325131;
finalDepth = 539.292295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.532725
#   Actual altitude:          51.532725
#   Commanded vehicle depth:  539.292295 
#   Seafloor depth:           -590.657287
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.293994 meters
#   Minimum depth: 587.325131 meters looking forward 200.000000 meters along route
#   Maximum depth: 590.106525 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 537.325131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362634;
longitude = -121.329612;
duration = 401;
initialDepth = 535.129011;
finalDepth = 537.325131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.364992
#   Actual altitude:          51.364992
#   Commanded vehicle depth:  537.325131 
#   Seafloor depth:           -588.658514
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294092 meters
#   Minimum depth: 585.129011 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.045159 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 535.129011 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362586;
longitude = -121.328510;
duration = 401;
initialDepth = 531.475004;
finalDepth = 535.129011;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.372193
#   Actual altitude:          51.372193
#   Commanded vehicle depth:  535.129011 
#   Seafloor depth:           -586.501204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294189 meters
#   Minimum depth: 581.475004 meters looking forward 200.000000 meters along route
#   Maximum depth: 585.954646 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 531.475004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362538;
longitude = -121.327408;
duration = 401;
initialDepth = 530.759090;
finalDepth = 531.475004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.580569
#   Actual altitude:          53.580569
#   Commanded vehicle depth:  531.475004 
#   Seafloor depth:           -585.055573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294286 meters
#   Minimum depth: 580.759090 meters looking forward 200.000000 meters along route
#   Maximum depth: 583.769280 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 530.759090 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362489;
longitude = -121.326305;
duration = 401;
initialDepth = 529.931522;
finalDepth = 530.759090;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.580569
#   Actual altitude:          53.580569
#   Commanded vehicle depth:  530.75909 
#   Seafloor depth:           -580.759090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294383 meters
#   Minimum depth: 579.931522 meters looking forward 200.000000 meters along route
#   Maximum depth: 582.145589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 529.931522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362441;
longitude = -121.325203;
duration = 401;
initialDepth = 527.808719;
finalDepth = 529.931522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.827397
#   Actual altitude:          50.827397
#   Commanded vehicle depth:  529.931522 
#   Seafloor depth:           -580.758919
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294481 meters
#   Minimum depth: 577.808719 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.828856 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 527.808719 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362392;
longitude = -121.324101;
duration = 401;
initialDepth = 525.769845;
finalDepth = 527.808719;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.948788
#   Actual altitude:          51.948788
#   Commanded vehicle depth:  527.808719 
#   Seafloor depth:           -579.757507
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294578 meters
#   Minimum depth: 575.769845 meters looking forward 200.000000 meters along route
#   Maximum depth: 578.640469 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 525.769845 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362344;
longitude = -121.322999;
duration = 401;
initialDepth = 523.874312;
finalDepth = 525.769845;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.948788
#   Actual altitude:          51.948788
#   Commanded vehicle depth:  525.769845 
#   Seafloor depth:           -577.226119
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294676 meters
#   Minimum depth: 573.874312 meters looking forward 200.000000 meters along route
#   Maximum depth: 576.821365 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 523.874312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362296;
longitude = -121.321897;
duration = 401;
initialDepth = 521.753270;
finalDepth = 523.874312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.511179
#   Actual altitude:          51.511179
#   Commanded vehicle depth:  523.874312 
#   Seafloor depth:           -575.385491
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294773 meters
#   Minimum depth: 571.753270 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.727831 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 521.753270 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362247;
longitude = -121.320795;
duration = 401;
initialDepth = 520.060752;
finalDepth = 521.753270;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.511179
#   Actual altitude:          51.511179
#   Commanded vehicle depth:  521.75327 
#   Seafloor depth:           -573.128262
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294870 meters
#   Minimum depth: 570.060752 meters looking forward 200.000000 meters along route
#   Maximum depth: 572.349219 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 520.060752 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362199;
longitude = -121.319693;
duration = 401;
initialDepth = 518.537415;
finalDepth = 520.060752;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.824606
#   Actual altitude:          51.824606
#   Commanded vehicle depth:  520.060752 
#   Seafloor depth:           -571.885358
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.294968 meters
#   Minimum depth: 568.537415 meters looking forward 200.000000 meters along route
#   Maximum depth: 571.415489 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 518.537415 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362151;
longitude = -121.318591;
duration = 401;
initialDepth = 516.713519;
finalDepth = 518.537415;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.824606
#   Actual altitude:          51.824606
#   Commanded vehicle depth:  518.537415 
#   Seafloor depth:           -569.126146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295066 meters
#   Minimum depth: 566.713519 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.527966 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 516.713519 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362102;
longitude = -121.317489;
duration = 401;
initialDepth = 514.962856;
finalDepth = 516.713519;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.443675
#   Actual altitude:          51.443675
#   Commanded vehicle depth:  516.713519 
#   Seafloor depth:           -568.157194
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295163 meters
#   Minimum depth: 564.962856 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.757748 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 514.962856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362054;
longitude = -121.316387;
duration = 401;
initialDepth = 513.046322;
finalDepth = 514.962856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.443675
#   Actual altitude:          51.443675
#   Commanded vehicle depth:  514.962856 
#   Seafloor depth:           -566.095258
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295260 meters
#   Minimum depth: 563.046322 meters looking forward 200.000000 meters along route
#   Maximum depth: 565.450705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 513.046322 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.362006;
longitude = -121.315285;
duration = 401;
initialDepth = 510.903543;
finalDepth = 513.046322;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.132402
#   Actual altitude:          51.132402
#   Commanded vehicle depth:  513.046322 
#   Seafloor depth:           -564.173716
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295358 meters
#   Minimum depth: 560.903543 meters looking forward 200.000000 meters along route
#   Maximum depth: 563.690996 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 510.903543 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361957;
longitude = -121.314182;
duration = 401;
initialDepth = 508.801155;
finalDepth = 510.903543;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.451425
#   Actual altitude:          51.451425
#   Commanded vehicle depth:  510.903543 
#   Seafloor depth:           -562.354968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295456 meters
#   Minimum depth: 558.801155 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.817036 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 508.801155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361909;
longitude = -121.313080;
duration = 401;
initialDepth = 507.122309;
finalDepth = 508.801155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.740185
#   Actual altitude:          51.740185
#   Commanded vehicle depth:  508.801155 
#   Seafloor depth:           -560.541340
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295553 meters
#   Minimum depth: 557.122309 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.959615 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 507.122309 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361861;
longitude = -121.311978;
duration = 401;
initialDepth = 505.257973;
finalDepth = 507.122309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.740185
#   Actual altitude:          51.740185
#   Commanded vehicle depth:  507.122309 
#   Seafloor depth:           -558.341981
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295651 meters
#   Minimum depth: 555.257973 meters looking forward 200.000000 meters along route
#   Maximum depth: 557.989137 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 505.257973 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361812;
longitude = -121.310876;
duration = 401;
initialDepth = 503.138392;
finalDepth = 505.257973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.490048
#   Actual altitude:          51.490048
#   Commanded vehicle depth:  505.257973 
#   Seafloor depth:           -556.748021
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295748 meters
#   Minimum depth: 553.138392 meters looking forward 200.000000 meters along route
#   Maximum depth: 556.220725 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 503.138392 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361764;
longitude = -121.309774;
duration = 401;
initialDepth = 501.155883;
finalDepth = 503.138392;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.555956
#   Actual altitude:          51.555956
#   Commanded vehicle depth:  503.138392 
#   Seafloor depth:           -554.694348
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295847 meters
#   Minimum depth: 551.155883 meters looking forward 200.000000 meters along route
#   Maximum depth: 554.404907 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 501.155883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361716;
longitude = -121.308672;
duration = 401;
initialDepth = 498.559799;
finalDepth = 501.155883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.613567
#   Actual altitude:          51.613567
#   Commanded vehicle depth:  501.155883 
#   Seafloor depth:           -552.769450
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.295944 meters
#   Minimum depth: 548.559799 meters looking forward 200.000000 meters along route
#   Maximum depth: 552.463820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 498.559799 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361667;
longitude = -121.307570;
duration = 401;
initialDepth = 498.069513;
finalDepth = 498.559799;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.507824
#   Actual altitude:          52.507824
#   Commanded vehicle depth:  498.559799 
#   Seafloor depth:           -551.067623
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296041 meters
#   Minimum depth: 548.069513 meters looking forward 200.000000 meters along route
#   Maximum depth: 550.486357 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 498.069513 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361619;
longitude = -121.306468;
duration = 401;
initialDepth = 496.329560;
finalDepth = 498.069513;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.507824
#   Actual altitude:          52.507824
#   Commanded vehicle depth:  498.069513 
#   Seafloor depth:           -548.643863
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296140 meters
#   Minimum depth: 546.329560 meters looking forward 200.000000 meters along route
#   Maximum depth: 548.548126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 496.329560 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361571;
longitude = -121.305366;
duration = 401;
initialDepth = 494.685435;
finalDepth = 496.329560;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.66509
#   Actual altitude:          51.66509
#   Commanded vehicle depth:  496.32956 
#   Seafloor depth:           -547.994650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296237 meters
#   Minimum depth: 544.685435 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.350573 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 494.685435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361522;
longitude = -121.304264;
duration = 401;
initialDepth = 492.606969;
finalDepth = 494.685435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.66509
#   Actual altitude:          51.66509
#   Commanded vehicle depth:  494.685435 
#   Seafloor depth:           -545.970037
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296335 meters
#   Minimum depth: 542.606969 meters looking forward 200.000000 meters along route
#   Maximum depth: 545.854152 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 492.606969 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361474;
longitude = -121.303161;
duration = 401;
initialDepth = 491.393856;
finalDepth = 492.606969;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.354784
#   Actual altitude:          51.354784
#   Commanded vehicle depth:  492.606969 
#   Seafloor depth:           -543.961753
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296433 meters
#   Minimum depth: 541.393856 meters looking forward 200.000000 meters along route
#   Maximum depth: 543.433126 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 491.393856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361426;
longitude = -121.302059;
duration = 401;
initialDepth = 489.969425;
finalDepth = 491.393856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.03927
#   Actual altitude:          52.03927
#   Commanded vehicle depth:  491.393856 
#   Seafloor depth:           -543.433126
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296531 meters
#   Minimum depth: 539.969425 meters looking forward 200.000000 meters along route
#   Maximum depth: 542.835801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 489.969425 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361377;
longitude = -121.300957;
duration = 401;
initialDepth = 488.127999;
finalDepth = 489.969425;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.03927
#   Actual altitude:          52.03927
#   Commanded vehicle depth:  489.969425 
#   Seafloor depth:           -541.207362
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296629 meters
#   Minimum depth: 538.127999 meters looking forward 200.000000 meters along route
#   Maximum depth: 540.942800 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 488.127999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361329;
longitude = -121.299855;
duration = 401;
initialDepth = 486.758760;
finalDepth = 488.127999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9412209999999
#   Actual altitude:          51.9412209999999
#   Commanded vehicle depth:  488.127999 
#   Seafloor depth:           -540.069220
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296727 meters
#   Minimum depth: 536.758760 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.238591 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 486.758760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361281;
longitude = -121.298753;
duration = 401;
initialDepth = 485.442778;
finalDepth = 486.758760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9412209999999
#   Actual altitude:          51.9412209999999
#   Commanded vehicle depth:  486.75876 
#   Seafloor depth:           -537.861309
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296824 meters
#   Minimum depth: 535.442778 meters looking forward 200.000000 meters along route
#   Maximum depth: 537.622604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 485.442778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361232;
longitude = -121.297651;
duration = 401;
initialDepth = 483.837618;
finalDepth = 485.442778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.102549
#   Actual altitude:          51.102549
#   Commanded vehicle depth:  485.442778 
#   Seafloor depth:           -536.454613
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.296923 meters
#   Minimum depth: 533.837618 meters looking forward 200.000000 meters along route
#   Maximum depth: 536.241068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 483.837618 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361184;
longitude = -121.296549;
duration = 401;
initialDepth = 481.639754;
finalDepth = 483.837618;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.011835
#   Actual altitude:          51.011835
#   Commanded vehicle depth:  483.837618 
#   Seafloor depth:           -534.760802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297020 meters
#   Minimum depth: 531.639754 meters looking forward 200.000000 meters along route
#   Maximum depth: 534.348839 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 481.639754 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361135;
longitude = -121.295447;
duration = 401;
initialDepth = 480.162360;
finalDepth = 481.639754;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.687089
#   Actual altitude:          51.687089
#   Commanded vehicle depth:  481.639754 
#   Seafloor depth:           -533.326843
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297119 meters
#   Minimum depth: 530.162360 meters looking forward 200.000000 meters along route
#   Maximum depth: 532.806605 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 480.162360 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361087;
longitude = -121.294345;
duration = 401;
initialDepth = 478.745369;
finalDepth = 480.162360;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.687089
#   Actual altitude:          51.687089
#   Commanded vehicle depth:  480.16236 
#   Seafloor depth:           -531.346521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297217 meters
#   Minimum depth: 528.745369 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.975535 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 478.745369 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.361039;
longitude = -121.293243;
duration = 401;
initialDepth = 477.337364;
finalDepth = 478.745369;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.184161
#   Actual altitude:          51.184161
#   Commanded vehicle depth:  478.745369 
#   Seafloor depth:           -529.851502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297314 meters
#   Minimum depth: 527.337364 meters looking forward 200.000000 meters along route
#   Maximum depth: 529.416761 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 477.337364 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360990;
longitude = -121.292141;
duration = 401;
initialDepth = 475.728290;
finalDepth = 477.337364;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.106133
#   Actual altitude:          51.106133
#   Commanded vehicle depth:  477.337364 
#   Seafloor depth:           -528.385263
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297413 meters
#   Minimum depth: 525.728290 meters looking forward 200.000000 meters along route
#   Maximum depth: 528.091119 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 475.728290 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360942;
longitude = -121.291038;
duration = 401;
initialDepth = 474.031605;
finalDepth = 475.728290;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.14035
#   Actual altitude:          51.14035
#   Commanded vehicle depth:  475.72829 
#   Seafloor depth:           -526.868640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297511 meters
#   Minimum depth: 524.031605 meters looking forward 200.000000 meters along route
#   Maximum depth: 526.456259 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 474.031605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360894;
longitude = -121.289936;
duration = 401;
initialDepth = 473.078829;
finalDepth = 474.031605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.14035
#   Actual altitude:          51.14035
#   Commanded vehicle depth:  474.031605 
#   Seafloor depth:           -525.125679
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297609 meters
#   Minimum depth: 523.078829 meters looking forward 200.000000 meters along route
#   Maximum depth: 524.803914 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 473.078829 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360845;
longitude = -121.288834;
duration = 401;
initialDepth = 471.550252;
finalDepth = 473.078829;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.094074
#   Actual altitude:          51.094074
#   Commanded vehicle depth:  473.078829 
#   Seafloor depth:           -523.545095
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297708 meters
#   Minimum depth: 521.550252 meters looking forward 200.000000 meters along route
#   Maximum depth: 523.275690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 471.550252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360797;
longitude = -121.287732;
duration = 401;
initialDepth = 469.476803;
finalDepth = 471.550252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.722844
#   Actual altitude:          50.722844
#   Commanded vehicle depth:  471.550252 
#   Seafloor depth:           -522.273096
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297805 meters
#   Minimum depth: 519.476803 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.257787 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 469.476803 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360749;
longitude = -121.286630;
duration = 401;
initialDepth = 467.426499;
finalDepth = 469.476803;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.142249
#   Actual altitude:          51.142249
#   Commanded vehicle depth:  469.476803 
#   Seafloor depth:           -520.619052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.297904 meters
#   Minimum depth: 517.426499 meters looking forward 200.000000 meters along route
#   Maximum depth: 520.534915 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 467.426499 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360700;
longitude = -121.285528;
duration = 401;
initialDepth = 466.323409;
finalDepth = 467.426499;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.288093
#   Actual altitude:          51.288093
#   Commanded vehicle depth:  467.426499 
#   Seafloor depth:           -518.714592
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298002 meters
#   Minimum depth: 516.323409 meters looking forward 200.000000 meters along route
#   Maximum depth: 518.583518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 466.323409 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360652;
longitude = -121.284426;
duration = 401;
initialDepth = 465.282739;
finalDepth = 466.323409;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.288093
#   Actual altitude:          51.288093
#   Commanded vehicle depth:  466.323409 
#   Seafloor depth:           -517.323988
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298100 meters
#   Minimum depth: 515.282739 meters looking forward 200.000000 meters along route
#   Maximum depth: 517.231576 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 465.282739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360604;
longitude = -121.283324;
duration = 401;
initialDepth = 463.703363;
finalDepth = 465.282739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.051112
#   Actual altitude:          51.051112
#   Commanded vehicle depth:  465.282739 
#   Seafloor depth:           -516.333851
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298198 meters
#   Minimum depth: 513.703363 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.672187 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 463.703363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360555;
longitude = -121.282222;
duration = 401;
initialDepth = 462.020883;
finalDepth = 463.703363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.694975
#   Actual altitude:          51.694975
#   Commanded vehicle depth:  463.703363 
#   Seafloor depth:           -515.398338
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298297 meters
#   Minimum depth: 512.020883 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.065169 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 462.020883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360507;
longitude = -121.281120;
duration = 401;
initialDepth = 460.415920;
finalDepth = 462.020883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.694975
#   Actual altitude:          51.694975
#   Commanded vehicle depth:  462.020883 
#   Seafloor depth:           -513.041330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298395 meters
#   Minimum depth: 510.415920 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.707599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 460.415920 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360459;
longitude = -121.280018;
duration = 401;
initialDepth = 459.288745;
finalDepth = 460.415920;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.091978
#   Actual altitude:          51.091978
#   Commanded vehicle depth:  460.41592 
#   Seafloor depth:           -511.507898
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298494 meters
#   Minimum depth: 509.288745 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.116444 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 459.288745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360410;
longitude = -121.278915;
duration = 401;
initialDepth = 457.759261;
finalDepth = 459.288745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.091978
#   Actual altitude:          51.091978
#   Commanded vehicle depth:  459.288745 
#   Seafloor depth:           -510.244360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298591 meters
#   Minimum depth: 507.759261 meters looking forward 200.000000 meters along route
#   Maximum depth: 510.146165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 457.759261 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360362;
longitude = -121.277813;
duration = 401;
initialDepth = 455.830872;
finalDepth = 457.759261;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.219694
#   Actual altitude:          51.219694
#   Commanded vehicle depth:  457.759261 
#   Seafloor depth:           -508.978955
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298691 meters
#   Minimum depth: 505.830872 meters looking forward 200.000000 meters along route
#   Maximum depth: 508.522068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 455.830872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360314;
longitude = -121.276711;
duration = 401;
initialDepth = 454.445920;
finalDepth = 455.830872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.515058
#   Actual altitude:          51.515058
#   Commanded vehicle depth:  455.830872 
#   Seafloor depth:           -507.345930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298789 meters
#   Minimum depth: 504.445920 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.683997 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.445920 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360265;
longitude = -121.275609;
duration = 401;
initialDepth = 453.361960;
finalDepth = 454.445920;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.515058
#   Actual altitude:          51.515058
#   Commanded vehicle depth:  454.44592 
#   Seafloor depth:           -505.596626
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298887 meters
#   Minimum depth: 503.361960 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.303650 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 453.361960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360217;
longitude = -121.274507;
duration = 401;
initialDepth = 451.644508;
finalDepth = 453.361960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.150706
#   Actual altitude:          51.150706
#   Commanded vehicle depth:  453.36196 
#   Seafloor depth:           -504.135329
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.298985 meters
#   Minimum depth: 501.644508 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.864880 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 451.644508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360169;
longitude = -121.273405;
duration = 401;
initialDepth = 450.233542;
finalDepth = 451.644508;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.197572
#   Actual altitude:          51.197572
#   Commanded vehicle depth:  451.644508 
#   Seafloor depth:           -502.842080
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299085 meters
#   Minimum depth: 500.233542 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.444196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 450.233542 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360120;
longitude = -121.272303;
duration = 401;
initialDepth = 448.709481;
finalDepth = 450.233542;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.197572
#   Actual altitude:          51.197572
#   Commanded vehicle depth:  450.233542 
#   Seafloor depth:           -501.313281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299182 meters
#   Minimum depth: 498.709481 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.802193 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 448.709481 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360072;
longitude = -121.271201;
duration = 401;
initialDepth = 447.570970;
finalDepth = 448.709481;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.160364
#   Actual altitude:          51.160364
#   Commanded vehicle depth:  448.709481 
#   Seafloor depth:           -499.869845
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299282 meters
#   Minimum depth: 497.570970 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.488078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 447.570970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.360023;
longitude = -121.270099;
duration = 401;
initialDepth = 446.423954;
finalDepth = 447.570970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.459643
#   Actual altitude:          51.459643
#   Commanded vehicle depth:  447.57097 
#   Seafloor depth:           -499.030613
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299380 meters
#   Minimum depth: 496.423954 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.196022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 446.423954 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359975;
longitude = -121.268997;
duration = 401;
initialDepth = 444.305725;
finalDepth = 446.423954;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.459643
#   Actual altitude:          51.459643
#   Commanded vehicle depth:  446.423954 
#   Seafloor depth:           -497.373187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299478 meters
#   Minimum depth: 494.305725 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.164986 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 444.305725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359927;
longitude = -121.267895;
duration = 401;
initialDepth = 443.731950;
finalDepth = 444.305725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.651386
#   Actual altitude:          51.651386
#   Commanded vehicle depth:  444.305725 
#   Seafloor depth:           -495.957111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299577 meters
#   Minimum depth: 493.731950 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.304098 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 443.731950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359878;
longitude = -121.266792;
duration = 401;
initialDepth = 442.405939;
finalDepth = 443.731950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.651386
#   Actual altitude:          51.651386
#   Commanded vehicle depth:  443.73195 
#   Seafloor depth:           -494.442446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299676 meters
#   Minimum depth: 492.405939 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.296387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.405939 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359830;
longitude = -121.265690;
duration = 401;
initialDepth = 441.331571;
finalDepth = 442.405939;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.927437
#   Actual altitude:          50.927437
#   Commanded vehicle depth:  442.405939 
#   Seafloor depth:           -493.333376
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299775 meters
#   Minimum depth: 491.331571 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.067654 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 441.331571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359782;
longitude = -121.264588;
duration = 401;
initialDepth = 439.409287;
finalDepth = 441.331571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.927437
#   Actual altitude:          50.927437
#   Commanded vehicle depth:  441.331571 
#   Seafloor depth:           -492.179372
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299873 meters
#   Minimum depth: 489.409287 meters looking forward 200.000000 meters along route
#   Maximum depth: 491.765962 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 439.409287 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359733;
longitude = -121.263486;
duration = 401;
initialDepth = 437.660239;
finalDepth = 439.409287;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.344357
#   Actual altitude:          51.344357
#   Commanded vehicle depth:  439.409287 
#   Seafloor depth:           -490.753644
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.299972 meters
#   Minimum depth: 487.660239 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.242203 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 437.660239 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359685;
longitude = -121.262384;
duration = 401;
initialDepth = 436.674895;
finalDepth = 437.660239;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.355313
#   Actual altitude:          51.355313
#   Commanded vehicle depth:  437.660239 
#   Seafloor depth:           -489.015552
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.300071 meters
#   Minimum depth: 486.674895 meters looking forward 200.000000 meters along route
#   Maximum depth: 488.701648 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 436.674895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359637;
longitude = -121.261282;
duration = 401;
initialDepth = 435.169870;
finalDepth = 436.674895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.355313
#   Actual altitude:          51.355313
#   Commanded vehicle depth:  436.674895 
#   Seafloor depth:           -487.552009
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 108.656750 meters
#   Minimum depth: 485.169870 meters looking forward 200.000000 meters along route
#   Maximum depth: 487.329594 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 435.169870 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359588;
longitude = -121.260180;
duration = 434;
initialDepth = 434.841484;
finalDepth = 435.169870;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.297015
#   Actual altitude:          51.297015
#   Commanded vehicle depth:  435.16987 
#   Seafloor depth:           -486.466885
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 165.714653 meters
#   Minimum depth: 484.841484 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.397686 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 434.841484 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.359536;
longitude = -121.258986;
duration = 662;
# abortOnTimeout    = True; 
initialDepth = 435.071226;
finalDepth = 434.841484;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.297015
#   Actual altitude:          51.297015
#   Commanded vehicle depth:  434.841484 
#   Seafloor depth:           -484.841484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 114.759872 meters
#   Minimum depth: 485.071226 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.397686 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 435.071226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.358342;
longitude = -121.257890;
duration = 459;
initialDepth = 434.580471;
finalDepth = 435.071226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.231236
#   Actual altitude:          50.231236
#   Commanded vehicle depth:  435.071226 
#   Seafloor depth:           -485.302462
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 122.083149 meters
#   Minimum depth: 484.580471 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.369875 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 434.580471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.357516;
longitude = -121.257130;
duration = 488;
initialDepth = 434.580471;
finalDepth = 434.580471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.48855
#   Actual altitude:          50.48855
#   Commanded vehicle depth:  434.580471 
#   Seafloor depth:           -485.069021
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 107.437928 meters
#   Minimum depth: 484.580471 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.104169 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 434.580471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.356637;
longitude = -121.256323;
duration = 429;
initialDepth = 434.717013;
finalDepth = 434.580471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.48855
#   Actual altitude:          50.48855
#   Commanded vehicle depth:  434.580471 
#   Seafloor depth:           -484.636253
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 114.761205 meters
#   Minimum depth: 484.717013 meters looking forward 200.000000 meters along route
#   Maximum depth: 484.994949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 434.717013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355863;
longitude = -121.255612;
duration = 459;
initialDepth = 434.731813;
finalDepth = 434.717013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.055782
#   Actual altitude:          50.055782
#   Commanded vehicle depth:  434.717013 
#   Seafloor depth:           -484.717013
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 114.761650 meters
#   Minimum depth: 484.731813 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.208175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 434.731813 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.355036;
longitude = -121.254852;
duration = 459;
initialDepth = 434.974580;
finalDepth = 434.731813;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.276197
#   Actual altitude:          50.276197
#   Commanded vehicle depth:  434.731813 
#   Seafloor depth:           -485.008010
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 121.125391 meters
#   Minimum depth: 484.974580 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.421926 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 434.974580 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.354210;
longitude = -121.254093;
duration = 484;
initialDepth = 434.976923;
finalDepth = 434.974580;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.276197
#   Actual altitude:          50.276197
#   Commanded vehicle depth:  434.97458 
#   Seafloor depth:           -485.061983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 124.933822 meters
#   Minimum depth: 484.976923 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.409352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 434.976923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.353337;
longitude = -121.253292;
duration = 499;
initialDepth = 435.106382;
finalDepth = 434.976923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.190583
#   Actual altitude:          50.190583
#   Commanded vehicle depth:  434.976923 
#   Seafloor depth:           -485.167506
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 14
#   Segment length 110.983546 meters
#   Minimum depth: 485.106382 meters looking forward 200.000000 meters along route
#   Maximum depth: 485.743916 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 435.106382 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.352437;
longitude = -121.252465;
duration = 443;
initialDepth = 435.483674;
finalDepth = 435.106382;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.228496
#   Actual altitude:          50.228496
#   Commanded vehicle depth:  435.106382 
#   Seafloor depth:           -485.334878
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 92.026024 meters
#   Minimum depth: 485.483674 meters looking forward 200.000000 meters along route
#   Maximum depth: 487.348148 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 435.483674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.351638;
longitude = -121.251731;
duration = 368;
# abortOnTimeout    = True; 
initialDepth = 436.093872;
finalDepth = 435.483674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.610198
#   Actual altitude:          50.610198
#   Commanded vehicle depth:  435.483674 
#   Seafloor depth:           -486.093872
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.594187 meters
#   Minimum depth: 486.093872 meters looking forward 200.000000 meters along route
#   Maximum depth: 489.527562 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 436.093872 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.351067;
longitude = -121.252465;
duration = 414;
initialDepth = 438.280905;
finalDepth = 436.093872;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.685262
#   Actual altitude:          51.685262
#   Commanded vehicle depth:  436.093872 
#   Seafloor depth:           -487.779134
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.594584 meters
#   Minimum depth: 488.280905 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.146524 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 438.280905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.350424;
longitude = -121.253292;
duration = 414;
initialDepth = 440.634674;
finalDepth = 438.280905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.143478
#   Actual altitude:          52.143478
#   Commanded vehicle depth:  438.280905 
#   Seafloor depth:           -490.424383
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.594980 meters
#   Minimum depth: 490.634674 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.635549 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 440.634674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349781;
longitude = -121.254118;
duration = 414;
initialDepth = 443.955575;
finalDepth = 440.634674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.599629
#   Actual altitude:          52.599629
#   Commanded vehicle depth:  440.634674 
#   Seafloor depth:           -493.234303
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.595376 meters
#   Minimum depth: 493.955575 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.136505 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 443.955575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349138;
longitude = -121.254945;
duration = 414;
initialDepth = 444.833825;
finalDepth = 443.955575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.599629
#   Actual altitude:          52.599629
#   Commanded vehicle depth:  443.955575 
#   Seafloor depth:           -494.871077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.595774 meters
#   Minimum depth: 494.833825 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.521774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 444.833825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348495;
longitude = -121.255772;
duration = 414;
initialDepth = 444.917142;
finalDepth = 444.833825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.915502
#   Actual altitude:          50.915502
#   Commanded vehicle depth:  444.833825 
#   Seafloor depth:           -494.833825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.596170 meters
#   Minimum depth: 494.917142 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.663047 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 444.917142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347852;
longitude = -121.256598;
duration = 414;
initialDepth = 447.070767;
finalDepth = 444.917142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.661741
#   Actual altitude:          50.661741
#   Commanded vehicle depth:  444.917142 
#   Seafloor depth:           -495.578883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.596566 meters
#   Minimum depth: 497.070767 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.515775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 447.070767 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347209;
longitude = -121.257425;
duration = 414;
initialDepth = 449.128257;
finalDepth = 447.070767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.310633
#   Actual altitude:          51.310633
#   Commanded vehicle depth:  447.070767 
#   Seafloor depth:           -498.381400
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.596963 meters
#   Minimum depth: 499.128257 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.919124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 449.128257 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346566;
longitude = -121.258251;
duration = 414;
initialDepth = 451.314717;
finalDepth = 449.128257;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.003451
#   Actual altitude:          52.003451
#   Commanded vehicle depth:  449.128257 
#   Seafloor depth:           -501.131708
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.597360 meters
#   Minimum depth: 501.314717 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.901013 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 451.314717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345923;
longitude = -121.259078;
duration = 414;
initialDepth = 453.881249;
finalDepth = 451.314717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.748303
#   Actual altitude:          52.748303
#   Commanded vehicle depth:  451.314717 
#   Seafloor depth:           -504.063020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 115.014037 meters
#   Minimum depth: 503.881249 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.901013 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 453.881249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345280;
longitude = -121.259904;
duration = 460;
initialDepth = 453.881249;
finalDepth = 453.881249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.748303
#   Actual altitude:          52.748303
#   Commanded vehicle depth:  453.881249 
#   Seafloor depth:           -504.848201
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.646522 meters
#   Minimum depth: 503.881249 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.671411 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 453.881249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.344566;
longitude = -121.260822;
duration = 414;
initialDepth = 456.059466;
finalDepth = 453.881249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.786715
#   Actual altitude:          51.786715
#   Commanded vehicle depth:  453.881249 
#   Seafloor depth:           -505.667964
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 158.702834 meters
#   Minimum depth: 506.059466 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.064513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 456.059466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.343923;
longitude = -121.261649;
duration = 634;
# abortOnTimeout    = True; 
initialDepth = 456.059466;
finalDepth = 456.059466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.786715
#   Actual altitude:          51.786715
#   Commanded vehicle depth:  456.059466 
#   Seafloor depth:           -506.842949
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 12
#   Segment length 134.354009 meters
#   Minimum depth: 506.059466 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.158971 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 456.059466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.342879;
longitude = -121.260455;
duration = 537;
initialDepth = 455.657765;
finalDepth = 456.059466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.079967
#   Actual altitude:          51.079967
#   Commanded vehicle depth:  456.059466 
#   Seafloor depth:           -507.139433
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 11
#   Segment length 81.832884 meters
#   Minimum depth: 505.657765 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.158971 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 455.657765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.341995;
longitude = -121.259445;
duration = 327;
# abortOnTimeout    = True; 
initialDepth = 454.095927;
finalDepth = 455.657765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.376247
#   Actual altitude:          51.376247
#   Commanded vehicle depth:  455.657765 
#   Seafloor depth:           -507.034012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 107.271024 meters
#   Minimum depth: 504.095927 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.034012 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.095927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.342512;
longitude = -121.258802;
duration = 429;
initialDepth = 454.095927;
finalDepth = 454.095927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.376247
#   Actual altitude:          51.376247
#   Commanded vehicle depth:  454.095927 
#   Seafloor depth:           -504.806897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 103.216002 meters
#   Minimum depth: 504.095927 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.115033 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.095927 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.343189;
longitude = -121.257960;
duration = 412;
initialDepth = 454.639015;
finalDepth = 454.095927;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.71097
#   Actual altitude:          50.71097
#   Commanded vehicle depth:  454.095927 
#   Seafloor depth:           -504.233034
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 105.242908 meters
#   Minimum depth: 504.639015 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.010254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.639015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.343840;
longitude = -121.257149;
duration = 420;
initialDepth = 450.144856;
finalDepth = 454.639015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.127222
#   Actual altitude:          51.127222
#   Commanded vehicle depth:  454.639015 
#   Seafloor depth:           -505.766237
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 105.242506 meters
#   Minimum depth: 500.144856 meters looking forward 200.000000 meters along route
#   Maximum depth: 505.396876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 450.144856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.344504;
longitude = -121.256323;
duration = 420;
initialDepth = 448.155176;
finalDepth = 450.144856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.930855
#   Actual altitude:          53.930855
#   Commanded vehicle depth:  450.144856 
#   Seafloor depth:           -504.075711
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 105.242102 meters
#   Minimum depth: 498.155176 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.622988 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 448.155176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345169;
longitude = -121.255496;
duration = 420;
initialDepth = 444.936404;
finalDepth = 448.155176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.930855
#   Actual altitude:          53.930855
#   Commanded vehicle depth:  448.155176 
#   Seafloor depth:           -500.008072
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 105.241699 meters
#   Minimum depth: 494.936404 meters looking forward 200.000000 meters along route
#   Maximum depth: 499.788376 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 444.936404 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345833;
longitude = -121.254669;
duration = 420;
initialDepth = 443.687412;
finalDepth = 444.936404;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.153352
#   Actual altitude:          52.153352
#   Commanded vehicle depth:  444.936404 
#   Seafloor depth:           -497.089756
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 105.241296 meters
#   Minimum depth: 493.687412 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.624569 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 443.687412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346497;
longitude = -121.253843;
duration = 420;
initialDepth = 442.804616;
finalDepth = 443.687412;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.153352
#   Actual altitude:          52.153352
#   Commanded vehicle depth:  443.687412 
#   Seafloor depth:           -494.925015
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 105.240894 meters
#   Minimum depth: 492.804616 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.202492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.804616 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347162;
longitude = -121.253016;
duration = 420;
initialDepth = 441.522586;
finalDepth = 442.804616;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.360969
#   Actual altitude:          51.360969
#   Commanded vehicle depth:  442.804616 
#   Seafloor depth:           -494.165585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 105.240490 meters
#   Minimum depth: 491.522586 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.329518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 441.522586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347826;
longitude = -121.252190;
duration = 420;
initialDepth = 438.925438;
finalDepth = 441.522586;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.378497
#   Actual altitude:          51.378497
#   Commanded vehicle depth:  441.522586 
#   Seafloor depth:           -492.901083
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 120.361236 meters
#   Minimum depth: 488.925438 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.576721 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 438.925438 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348490;
longitude = -121.251363;
duration = 481;
initialDepth = 436.492054;
finalDepth = 438.925438;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.354739
#   Actual altitude:          52.354739
#   Commanded vehicle depth:  438.925438 
#   Seafloor depth:           -491.280177
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.837210 meters
#   Minimum depth: 486.492054 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.484997 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 436.492054 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349250;
longitude = -121.250418;
duration = 407;
initialDepth = 436.159454;
finalDepth = 436.492054;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.354739
#   Actual altitude:          52.354739
#   Commanded vehicle depth:  436.492054 
#   Seafloor depth:           -488.620103
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 10
#   Segment length 188.377647 meters
#   Minimum depth: 486.159454 meters looking forward 200.000000 meters along route
#   Maximum depth: 488.375060 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 436.159454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349893;
longitude = -121.249618;
duration = 753;
# abortOnTimeout    = True; 
initialDepth = 437.740234;
finalDepth = 436.159454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.128049
#   Actual altitude:          52.128049
#   Commanded vehicle depth:  436.159454 
#   Seafloor depth:           -486.159454
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 101.492235 meters
#   Minimum depth: 487.740234 meters looking forward 200.000000 meters along route
#   Maximum depth: 489.109353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 437.740234 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348222;
longitude = -121.249986;
duration = 405;
initialDepth = 438.951246;
finalDepth = 437.740234;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.996272
#   Actual altitude:          50.996272
#   Commanded vehicle depth:  437.740234 
#   Seafloor depth:           -488.736506
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 124.232287 meters
#   Minimum depth: 488.951246 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.141005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 438.951246 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347321;
longitude = -121.250184;
duration = 496;
initialDepth = 439.680000;
finalDepth = 438.951246;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.996272
#   Actual altitude:          50.996272
#   Commanded vehicle depth:  438.951246 
#   Seafloor depth:           -489.496243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 10
#   Segment length 103.526710 meters
#   Minimum depth: 489.680000 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.441166 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 439.680000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346219;
longitude = -121.250426;
duration = 414;
initialDepth = 441.367323;
finalDepth = 439.680000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.201802
#   Actual altitude:          51.201802
#   Commanded vehicle depth:  439.68 
#   Seafloor depth:           -490.881802
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 9
#   Segment length 97.762630 meters
#   Minimum depth: 491.367323 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.857941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 441.367323 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345301;
longitude = -121.250628;
duration = 391;
# abortOnTimeout    = True; 
initialDepth = 442.038162;
finalDepth = 441.367323;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.490618
#   Actual altitude:          51.490618
#   Commanded vehicle depth:  441.367323 
#   Seafloor depth:           -492.857941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 109.915121 meters
#   Minimum depth: 492.038162 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.588490 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.038162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345944;
longitude = -121.251363;
duration = 439;
initialDepth = 442.061046;
finalDepth = 442.038162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.490618
#   Actual altitude:          51.490618
#   Commanded vehicle depth:  442.038162 
#   Seafloor depth:           -492.038162
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 109.914638 meters
#   Minimum depth: 492.061046 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.425599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.061046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346667;
longitude = -121.252190;
duration = 439;
initialDepth = 442.513146;
finalDepth = 442.061046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.37794
#   Actual altitude:          50.37794
#   Commanded vehicle depth:  442.061046 
#   Seafloor depth:           -492.438986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 115.116013 meters
#   Minimum depth: 492.513146 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.636308 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.513146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347391;
longitude = -121.253016;
duration = 460;
initialDepth = 445.557621;
finalDepth = 442.513146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.221621
#   Actual altitude:          51.221621
#   Commanded vehicle depth:  442.513146 
#   Seafloor depth:           -493.734767
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 104.711811 meters
#   Minimum depth: 495.557621 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.629872 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 445.557621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348148;
longitude = -121.253882;
duration = 418;
initialDepth = 443.550454;
finalDepth = 445.557621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.072251
#   Actual altitude:          59.072251
#   Commanded vehicle depth:  445.557621 
#   Seafloor depth:           -504.629872
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 109.913187 meters
#   Minimum depth: 493.550454 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.879543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 443.550454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348837;
longitude = -121.254669;
duration = 439;
initialDepth = 442.306136;
finalDepth = 443.550454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.072251
#   Actual altitude:          59.072251
#   Commanded vehicle depth:  443.550454 
#   Seafloor depth:           -497.407080
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 120.370129 meters
#   Minimum depth: 492.306136 meters looking forward 200.000000 meters along route
#   Maximum depth: 495.169168 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.306136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349560;
longitude = -121.255496;
duration = 481;
initialDepth = 442.306136;
finalDepth = 442.306136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.856626
#   Actual altitude:          53.856626
#   Commanded vehicle depth:  442.306136 
#   Seafloor depth:           -493.511645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 111.667004 meters
#   Minimum depth: 492.306136 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.232854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.306136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.350352;
longitude = -121.256401;
duration = 446;
initialDepth = 442.432432;
finalDepth = 442.306136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.205509
#   Actual altitude:          51.205509
#   Commanded vehicle depth:  442.306136 
#   Seafloor depth:           -492.432432
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 8
#   Segment length 85.486971 meters
#   Minimum depth: 492.432432 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.868912 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.432432 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.351087;
longitude = -121.257241;
duration = 341;
# abortOnTimeout    = True; 
initialDepth = 442.306136;
finalDepth = 442.432432;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.43648
#   Actual altitude:          50.43648
#   Commanded vehicle depth:  442.432432 
#   Seafloor depth:           -492.868912
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.928394 meters
#   Minimum depth: 492.306136 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.232576 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.306136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.350525;
longitude = -121.256598;
duration = 439;
initialDepth = 442.306136;
finalDepth = 442.306136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.43648
#   Actual altitude:          50.43648
#   Commanded vehicle depth:  442.306136 
#   Seafloor depth:           -492.456806
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.897173 meters
#   Minimum depth: 492.306136 meters looking forward 200.000000 meters along route
#   Maximum depth: 494.193194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.306136 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349801;
longitude = -121.255771;
duration = 439;
initialDepth = 443.511645;
finalDepth = 442.306136;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.926718
#   Actual altitude:          50.926718
#   Commanded vehicle depth:  442.306136 
#   Seafloor depth:           -493.232854
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.913509 meters
#   Minimum depth: 493.511645 meters looking forward 200.000000 meters along route
#   Maximum depth: 502.455332 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 443.511645 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349078;
longitude = -121.254945;
duration = 439;
initialDepth = 445.924877;
finalDepth = 443.511645;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.657523
#   Actual altitude:          51.657523
#   Commanded vehicle depth:  443.511645 
#   Seafloor depth:           -495.169168
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 115.185568 meters
#   Minimum depth: 495.924877 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.629872 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 445.924877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348355;
longitude = -121.254118;
duration = 460;
initialDepth = 442.666582;
finalDepth = 445.924877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.954666
#   Actual altitude:          57.954666
#   Commanded vehicle depth:  445.924877 
#   Seafloor depth:           -503.879543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 104.642902 meters
#   Minimum depth: 492.666582 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.629872 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.666582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347597;
longitude = -121.253252;
duration = 418;
initialDepth = 442.089079;
finalDepth = 442.666582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.954666
#   Actual altitude:          57.954666
#   Commanded vehicle depth:  442.666582 
#   Seafloor depth:           -495.557621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 109.914959 meters
#   Minimum depth: 492.089079 meters looking forward 200.000000 meters along route
#   Maximum depth: 493.734767 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.089079 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346909;
longitude = -121.252465;
duration = 439;
initialDepth = 442.038162;
finalDepth = 442.089079;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.891039
#   Actual altitude:          52.891039
#   Commanded vehicle depth:  442.089079 
#   Seafloor depth:           -492.513146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 8
#   Segment length 134.401057 meters
#   Minimum depth: 492.038162 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.588490 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 442.038162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346185;
longitude = -121.251639;
duration = 537;
initialDepth = 441.104705;
finalDepth = 442.038162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.424067
#   Actual altitude:          50.424067
#   Commanded vehicle depth:  442.038162 
#   Seafloor depth:           -492.061046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 132.464051 meters
#   Minimum depth: 491.104705 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.857941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 441.104705 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345301;
longitude = -121.250628;
duration = 529;
# abortOnTimeout    = True; 
initialDepth = 440.010930;
finalDepth = 441.104705;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.753236
#   Actual altitude:          51.753236
#   Commanded vehicle depth:  441.104705 
#   Seafloor depth:           -492.857941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 122.274721 meters
#   Minimum depth: 490.010930 meters looking forward 200.000000 meters along route
#   Maximum depth: 491.573328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 440.010930 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346495;
longitude = -121.250648;
duration = 489;
initialDepth = 439.734923;
finalDepth = 440.010930;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.753236
#   Actual altitude:          51.753236
#   Commanded vehicle depth:  440.01093 
#   Seafloor depth:           -490.465000
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 122.274741 meters
#   Minimum depth: 489.734923 meters looking forward 200.000000 meters along route
#   Maximum depth: 490.353305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 439.734923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347597;
longitude = -121.250667;
duration = 489;
initialDepth = 438.777070;
finalDepth = 439.734923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.45407
#   Actual altitude:          50.45407
#   Commanded vehicle depth:  439.734923 
#   Seafloor depth:           -489.929110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 122.274762 meters
#   Minimum depth: 488.777070 meters looking forward 200.000000 meters along route
#   Maximum depth: 489.942078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 438.777070 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348699;
longitude = -121.250686;
duration = 489;
initialDepth = 436.367374;
finalDepth = 438.777070;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.881812
#   Actual altitude:          50.881812
#   Commanded vehicle depth:  438.77707 
#   Seafloor depth:           -489.658882
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.938191 meters
#   Minimum depth: 486.367374 meters looking forward 200.000000 meters along route
#   Maximum depth: 489.392363 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 436.367374 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349801;
longitude = -121.250704;
duration = 407;
initialDepth = 435.949142;
finalDepth = 436.367374;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.623643
#   Actual altitude:          51.623643
#   Commanded vehicle depth:  436.367374 
#   Seafloor depth:           -487.991017
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 6
#   Segment length 110.783587 meters
#   Minimum depth: 485.949142 meters looking forward 200.000000 meters along route
#   Maximum depth: 489.274198 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 435.949142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.350720;
longitude = -121.250720;
duration = 443;
# abortOnTimeout    = True; 
initialDepth = 437.360215;
finalDepth = 435.949142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.623643
#   Actual altitude:          51.623643
#   Commanded vehicle depth:  435.949142 
#   Seafloor depth:           -485.949142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 121.829598 meters
#   Minimum depth: 487.360215 meters looking forward 200.000000 meters along route
#   Maximum depth: 492.496502 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 437.360215 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.350064;
longitude = -121.251639;
duration = 487;
initialDepth = 439.888491;
finalDepth = 437.360215;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.969212
#   Actual altitude:          51.969212
#   Commanded vehicle depth:  437.360215 
#   Seafloor depth:           -489.329427
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 5
#   Segment length 100.584440 meters
#   Minimum depth: 489.888491 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.849408 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 439.888491 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349342;
longitude = -121.252649;
duration = 402;
# abortOnTimeout    = True; 
initialDepth = 418.977677;
finalDepth = 439.888491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.261961
#   Actual altitude:          53.261961
#   Commanded vehicle depth:  439.888491 
#   Seafloor depth:           -493.150452
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.620718 meters
#   Minimum depth: 493.977677 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.979722 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 418.977677 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348699;
longitude = -121.253429;
duration = 402;
initialDepth = 421.993288;
finalDepth = 418.977677;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       80.054467
#   Actual altitude:          80.054467
#   Commanded vehicle depth:  418.977677 
#   Seafloor depth:           -499.032144
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 24.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 95.268736 meters
#   Minimum depth: 496.993288 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.979722 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 421.993288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348056;
longitude = -121.254210;
duration = 381;
# abortOnTimeout    = True; 
initialDepth = 420.571795;
finalDepth = 421.993288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       82.643843
#   Actual altitude:          82.643843
#   Commanded vehicle depth:  421.993288 
#   Seafloor depth:           -504.637131
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 24.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 118.995882 meters
#   Minimum depth: 495.571795 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.491094 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 420.571795 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347444;
longitude = -121.254945;
duration = 475;
initialDepth = 420.816153;
finalDepth = 420.571795;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            5
#   Commanded altitude:       82.643843
#   Actual altitude:          82.643843
#   Commanded vehicle depth:  420.571795 
#   Seafloor depth:           -496.148036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 24.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 3
#   Segment length 113.762157 meters
#   Minimum depth: 495.816153 meters looking forward 200.000000 meters along route
#   Maximum depth: 501.338936 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 75.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 420.816153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346679;
longitude = -121.255863;
duration = 455;
# abortOnTimeout    = True; 
initialDepth = 449.696919;
finalDepth = 420.816153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       77.684831
#   Actual altitude:          77.684831
#   Commanded vehicle depth:  420.816153 
#   Seafloor depth:           -498.500984
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 113.727040 meters
#   Minimum depth: 499.696919 meters looking forward 200.000000 meters along route
#   Maximum depth: 507.613667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 449.696919 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345944;
longitude = -121.256736;
duration = 454;
initialDepth = 457.342965;
finalDepth = 449.696919;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       77.684831
#   Actual altitude:          77.684831
#   Commanded vehicle depth:  449.696919 
#   Seafloor depth:           -502.009429
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 23.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 2
#   Segment length 145.141827 meters
#   Minimum depth: 507.342965 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.059874 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 457.342965 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345209;
longitude = -121.257608;
duration = 580;
# abortOnTimeout    = True; 
initialDepth = 454.657422;
finalDepth = 457.342965;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.31251
#   Actual altitude:          52.31251
#   Commanded vehicle depth:  457.342965 
#   Seafloor depth:           -509.180222
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.452505 meters
#   Minimum depth: 504.657422 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.059874 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.657422 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.344341;
longitude = -121.258802;
duration = 401;
initialDepth = 454.657195;
finalDepth = 454.657422;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.3614240000001
#   Actual altitude:          58.3614240000001
#   Commanded vehicle depth:  454.657422 
#   Seafloor depth:           -513.018846
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 122.761420 meters
#   Minimum depth: 504.657195 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.866568 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.657195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.343740;
longitude = -121.259629;
duration = 491;
initialDepth = 455.135635;
finalDepth = 454.657195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.3614240000001
#   Actual altitude:          58.3614240000001
#   Commanded vehicle depth:  454.657195 
#   Seafloor depth:           -504.657195
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 1
#   Segment length 92.068645 meters
#   Minimum depth: 505.135635 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.237282 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 455.135635 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.343005;
longitude = -121.260639;
duration = 368;
# abortOnTimeout    = True; 
initialDepth = 454.755216;
finalDepth = 455.135635;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.101647
#   Actual altitude:          51.101647
#   Commanded vehicle depth:  455.135635 
#   Seafloor depth:           -506.237282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.593541 meters
#   Minimum depth: 504.755216 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.733325 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.755216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.343576;
longitude = -121.259904;
duration = 414;
initialDepth = 454.755216;
finalDepth = 454.755216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.101647
#   Actual altitude:          51.101647
#   Commanded vehicle depth:  454.755216 
#   Seafloor depth:           -505.123425
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.593143 meters
#   Minimum depth: 504.755216 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.036746 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 454.755216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.344219;
longitude = -121.259078;
duration = 414;
initialDepth = 458.227879;
finalDepth = 454.755216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.789182
#   Actual altitude:          55.789182
#   Commanded vehicle depth:  454.755216 
#   Seafloor depth:           -510.544398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.592747 meters
#   Minimum depth: 508.227879 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.036746 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 458.227879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.344862;
longitude = -121.258251;
duration = 414;
initialDepth = 452.049564;
finalDepth = 458.227879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.899746
#   Actual altitude:          56.899746
#   Commanded vehicle depth:  458.227879 
#   Seafloor depth:           -515.127625
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.592351 meters
#   Minimum depth: 502.049564 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.438815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 452.049564 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.345505;
longitude = -121.257425;
duration = 414;
initialDepth = 448.056461;
finalDepth = 452.049564;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.899746
#   Actual altitude:          56.899746
#   Commanded vehicle depth:  452.049564 
#   Seafloor depth:           -506.819566
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.591953 meters
#   Minimum depth: 498.056461 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.829252 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 448.056461 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346148;
longitude = -121.256598;
duration = 414;
initialDepth = 445.572468;
finalDepth = 448.056461;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.770002
#   Actual altitude:          54.770002
#   Commanded vehicle depth:  448.056461 
#   Seafloor depth:           -500.861747
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.591558 meters
#   Minimum depth: 495.572468 meters looking forward 200.000000 meters along route
#   Maximum depth: 500.491835 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 445.572468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.346791;
longitude = -121.255772;
duration = 414;
initialDepth = 445.572468;
finalDepth = 445.572468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.805286
#   Actual altitude:          52.805286
#   Commanded vehicle depth:  445.572468 
#   Seafloor depth:           -497.951992
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.591160 meters
#   Minimum depth: 495.572468 meters looking forward 200.000000 meters along route
#   Maximum depth: 503.264715 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 445.572468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.347434;
longitude = -121.254945;
duration = 414;
initialDepth = 447.017923;
finalDepth = 445.572468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.379524
#   Actual altitude:          52.379524
#   Commanded vehicle depth:  445.572468 
#   Seafloor depth:           -496.104648
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 15.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.590764 meters
#   Minimum depth: 497.017923 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.201982 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 447.017923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348077;
longitude = -121.254118;
duration = 414;
initialDepth = 443.670109;
finalDepth = 447.017923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.064982
#   Actual altitude:          59.064982
#   Commanded vehicle depth:  447.017923 
#   Seafloor depth:           -506.082905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.590368 meters
#   Minimum depth: 493.670109 meters looking forward 200.000000 meters along route
#   Maximum depth: 506.201982 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 443.670109 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.348720;
longitude = -121.253292;
duration = 414;
initialDepth = 439.414537;
finalDepth = 443.670109;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.064982
#   Actual altitude:          59.064982
#   Commanded vehicle depth:  443.670109 
#   Seafloor depth:           -498.478456
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 17.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 115.077663 meters
#   Minimum depth: 489.414537 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.169492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 439.414537 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.349363;
longitude = -121.252465;
duration = 460;
initialDepth = 436.444377;
finalDepth = 439.414537;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.808347
#   Actual altitude:          54.808347
#   Commanded vehicle depth:  439.414537 
#   Seafloor depth:           -492.876664
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.648329 meters
#   Minimum depth: 486.444377 meters looking forward 200.000000 meters along route
#   Maximum depth: 491.896581 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 954.232851 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 45.000000 meters
#   Behavior depth of 436.444377 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 35.350077;
longitude = -121.251547;
duration = 414;
initialDepth = 435.949142;
finalDepth = 436.444377;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.462127
#   Actual altitude:          53.462127
#   Commanded vehicle depth:  436.444377 
#   Seafloor depth:           -489.128131
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 16.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.683754
#   Sonar parameter altitude: 52.683754
#   Commanded vehicle depth:  435.949142 
#   Seafloor depth:           -485.949142
# 
behavior reson
{
duration = 6;
SBP_Mode = 1;
SBP_Power = 100.0;
SBP_Gain = 128.0;
SBP_Duration = 300.000;
LoSS_Mode = 1;
LoSS_Power = 100.0;
LoSS_Range = 200.00;
MB_Power = 218;
MB_Range = 200.00;
MB_Rate = 3;
MB_Gain = 33;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000033;
MB_Bottom_Detect_Filter_Min_Range = 15.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint behavior to get back to start of line 1
#   Segment length 103.648329 meters
#   Minimum depth: 485.949142 meters looking forward 200.000000 meters along route
#   Maximum depth: 491.896581 meters looking forward 200.000000 meters along route
#   Vehicle depth: 435.949142 meters
behavior waypoint
{
latitude = 35.350720;
longitude = -121.250720;
duration = 871;
depth = 435.949142;
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 435.949142 meters set by local depth and desired altitude
behavior descend
{
duration = 1748;
horizontalMode = rudder;
horizontal = 2.000000;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 425.949142;
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 103.648329 meters
#   Minimum depth: 485.949142 meters looking forward 200.000000 meters along route
#   Maximum depth: 491.896581 meters looking forward 200.000000 meters along route
#   Vehicle depth: 50.000000 meters
behavior waypoint
{
latitude = 35.350720;
longitude = -121.250720;
duration = 2000;
depth = 50.000000;
speed = 1.500000;
}
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 270.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 45.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 270.0;
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 = 33;
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;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
