# This MBARI Mapping AUV mission file has been generated
# by the MB-System program mbm_route2mission run by
# user <caress> on cpu <battery1> at <Mon May  7 01:32:35 PDT 2018>
# 
# Program mbm_route2mission version:
#     : mbm_route2mission 2335 2018-05-06 23:24:33Z caress r
# 
# Mission Summary:
#     Route File:               SantaMonicaCanyon_m1_v5.rte
#     Mission File:             SantaMonicaCanyon_m1_v5.cfg
#     Distance:                 107347.054695 (m)
#     Estimated Time:           72932 (s)  20.259 (hr)
#     Abort Time:               77815 (s)
#     Max battery life:         79200 (s)
#     Safety margin:            900 (s)
#     Ascend time:              727 (s)
#     Way Points:               95
#     Route Points:             1027
#     Survey Behaviors:
#          Behavior for waypoint mode 0:   WaypointDepth
#          Behavior for waypoint mode 1:   WaypointDepth
#          Behavior for waypoint mode 2:   WaypointDepth
#          Behavior for waypoint mode 3:   WaypointDepth
#          Behavior for waypoint mode 4:   WaypointDepth
#     Descent style:            Waypoint descent
#     Mapping sonar control enabled:          
#                               Multibeam enabled
#                                 Multibeam receive gain:           38 dB
#                                 Multibeam transmit gain:          218 dB
#                                 Multibeam pulse width:            6.6e-05 usec
#                                 Multibeam minimum range fraction: 0.6
#                                 Multibeam maximum range fraction: 4.0
#                               Subbottom enabled
#                               Low sidescan enabled
#                               High sidescan disabled
#     Benthic imaging camera control disabled: 
# 
# Mission Parameters:
#     Vehicle Survey Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Ascent Speed:       1.500000 (m/s) 2.915769 (knots)
#     Vehicle Transit Speed:      1.500000 (m/s) 2.915769 (knots)
#     Minimum Vehicle Altitude 1: 40 (m)
#     Abort Vehicle Altitude 1:   15 (m)
#     Delta Depth Restart 1:      25 (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:      856.134228 (m)
#     Abort Vehicle Depth:        876.134228 (m)
#     Descent Vehicle Depth:      3 (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 -118.617298 33.872428 -92.567383 0.000000 3
#   1 -118.687851 33.852193 -595.318665 6902.792836 3
#   2 -118.699282 33.859606 -639.610855 8242.474811 3
#   3 -118.703316 33.855464 -663.343979 8834.389743 3
#   4 -118.680590 33.839785 -696.459503 11563.275952 3
#   5 -118.688199 33.831416 -785.678223 12728.388786 3
#   6 -118.689805 33.832354 -781.326660 12909.823559 3
#   7 -118.677013 33.846280 -621.124359 14855.869997 3
#   8 -118.678284 33.847119 -616.483582 15005.846687 3
#   9 -118.691082 33.833250 -775.352051 16947.212042 3
#   10 -118.692470 33.834191 -770.433594 17112.728691 3
#   11 -118.679555 33.847958 -612.770645 19051.792282 3
#   12 -118.680826 33.848798 -608.799515 19201.836155 3
#   13 -118.693743 33.835091 -767.292969 21135.772093 3
#   14 -118.695166 33.835992 -766.525879 21301.094752 3
#   15 -118.682097 33.849637 -603.863281 23238.374523 3
#   16 -118.683368 33.850476 -600.083786 23388.347903 3
#   17 -118.696434 33.836686 -770.355957 25338.038240 3
#   18 -118.697704 33.837506 -767.570831 25486.654834 3
#   19 -118.684639 33.851315 -596.897781 27437.935098 3
#   20 -118.685911 33.852155 -593.812180 27588.048211 3
#   21 -118.697568 33.839623 -754.746948 29347.473744 3
#   22 -118.698893 33.840697 -763.261429 29518.429931 3
#   23 -118.687182 33.852994 -592.728653 31260.437263 3
#   24 -118.688453 33.853833 -599.531601 31410.407334 3
#   25 -118.698782 33.842940 -769.825821 32950.930367 3
#   26 -118.700053 33.843780 -784.318787 33100.980618 3
#   27 -118.689724 33.854672 -627.759048 34641.411693 3
#   28 -118.690995 33.855511 -689.525345 34791.380110 3
#   29 -118.701324 33.844619 -783.000641 36331.806209 3
#   30 -118.702595 33.845458 -762.574356 36481.785970 3
#   31 -118.692267 33.856351 -713.846863 38022.236653 3
#   32 -118.693538 33.857190 -730.341660 38172.203415 3
#   33 -118.703866 33.846297 -735.931686 39712.649123 3
#   34 -118.705138 33.847136 -732.346878 39862.699819 3
#   35 -118.694809 33.858029 -729.035172 41403.197964 3
#   36 -118.696081 33.858868 -687.725204 41553.235646 3
#   37 -118.705024 33.849607 -684.478027 42872.249657 3
#   38 -118.706284 33.850486 -686.929214 43024.234171 3
#   39 -118.697352 33.859707 -638.893539 44339.151946 3
#   40 -118.695741 33.860014 -697.068420 44492.052792 3
#   41 -118.696957 33.870756 -596.937012 45688.740343 3
#   42 -118.694003 33.871388 -641.564056 45970.876093 3
#   43 -118.692923 33.866513 -665.836426 46520.713504 1
#   44 -118.692114 33.862900 -653.969238 46928.358826 1
#   45 -118.692770 33.859510 -654.537109 47309.208242 1
#   46 -118.692074 33.857301 -677.710068 47562.528885 1
#   47 -118.690341 33.853348 -696.172104 48029.357797 1
#   48 -118.691935 33.851459 -699.113052 48285.579674 1
#   49 -118.697699 33.847386 -769.232620 48984.556650 1
#   50 -118.699412 33.841799 -782.877228 49624.162201 3
#   51 -118.670087 33.816429 -852.823883 53533.726290 3
#   52 -118.665355 33.818503 -841.596970 54028.497709 3
#   53 -118.664252 33.820621 -837.130142 54284.630535 3
#   54 -118.672983 33.816645 -857.205170 55205.335741 3
#   55 -118.673840 33.817840 -855.868713 55359.800543 3
#   56 -118.664987 33.821788 -830.704315 56288.958464 3
#   57 -118.666104 33.822919 -827.418793 56451.516698 3
#   58 -118.674625 33.819238 -853.992035 57339.679521 3
#   59 -118.675360 33.820232 -851.712051 57469.227289 3
#   60 -118.666838 33.823999 -823.911987 58361.888181 3
#   61 -118.671578 33.822804 -830.491943 58820.229845 3
#   62 -118.667227 33.816501 -840.550095 59627.010231 1
#   63 -118.664036 33.811177 -853.051178 60287.253674 3
#   64 -118.638572 33.797419 -850.982681 63095.547420 3
#   65 -118.639458 33.796317 -849.107330 63242.746200 3
#   66 -118.664749 33.810010 -854.844681 66033.704120 3
#   67 -118.665657 33.808887 -857.513519 66183.967180 3
#   68 -118.636980 33.793392 -865.002121 69346.750429 3
#   69 -118.637881 33.792232 -864.569092 69500.085452 3
#   70 -118.665131 33.806970 -857.721680 72506.369791 3
#   71 -118.666089 33.805861 -861.763474 72658.010365 3
#   72 -118.634028 33.788551 -870.230957 76193.314930 3
#   73 -118.635048 33.787485 -869.906738 76344.638832 3
#   74 -118.658756 33.800315 -856.055084 78960.741248 3
#   75 -118.653354 33.806646 -838.615875 79822.813177 3
#   76 -118.644177 33.801561 -830.918640 80842.603548 3
#   77 -118.650422 33.794105 -854.670883 81851.639211 3
#   78 -118.633267 33.785152 -871.520996 83725.004524 3
#   79 -118.634527 33.784162 -871.058105 83885.224361 3
#   80 -118.643440 33.788754 -862.916992 84855.082269 3
#   81 -118.644250 33.787673 -870.452148 84996.502476 3
#   82 -118.631016 33.780921 -868.550293 86432.729401 3
#   83 -118.631916 33.779751 -869.758789 86586.952067 3
#   84 -118.644791 33.786323 -872.405762 87984.416389 3
#   85 -118.645601 33.785242 -874.756348 88125.837748 3
#   86 -118.617062 33.770298 -829.237305 91245.589845 3
#   87 -118.618142 33.769217 -829.264648 91401.728924 3
#   88 -118.642630 33.782271 -876.249023 94092.400420 3
#   89 -118.643440 33.781191 -879.013672 94233.729478 3
#   90 -118.618952 33.768137 -829.187500 96924.425598 3
#   91 -118.619943 33.766876 -831.011719 97091.709035 3
#   92 -118.641369 33.778400 -875.689941 99452.119863 3
#   93 -118.637768 33.794966 -861.519699 101319.400818 3
#   94 -118.576686 33.813774 -484.819824 107347.054695 4
# 
# A total of 1027 mission points have been defined.
# 
# Define Mission parameters:
# 
#######################################################
# Set Mission Behaviors
# 
# mission timer set to 120% of estimated time of mission
behavior missionTimer
{
timeOut = 79200;
}
# 
# depth envelope
behavior depthEnvelope
{
minDepth = 0;
maxDepth = 856.134228;
abortDepth = 876.134228;
minAltitude = 40.000000;
abortAltitude = 15.000000;
deltaDepthRestart = 25.000000;
}
#######################################################
# Set End-of-Mission Behaviors
# 
# 
# acquire gps fix 
behavior getgps
{
duration = 600;
minHits = 10;
abortOnTimeout = True;
}
# 
# ascend behavior 
behavior ascend
{
duration = 727;
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 94
#   Segment length 157.790856 meters
#   Minimum depth: 484.683815 meters looking forward 200.000000 meters along route
#   Maximum depth: 497.382311 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 434.683815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.813774;
longitude = -118.576686;
duration = 631;
# abortOnTimeout    = True; 
initialDepth = 438.134829;
finalDepth = 434.683815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.136009
#   Actual altitude:          50.136009
#   Commanded vehicle depth:  434.683815 
#   Seafloor depth:           -484.819824
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.237313 meters
#   Minimum depth: 488.134829 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.541254 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 438.134829 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.813282;
longitude = -118.578285;
duration = 404;
initialDepth = 448.069492;
finalDepth = 438.134829;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.315093
#   Actual altitude:          59.315093
#   Commanded vehicle depth:  438.134829 
#   Seafloor depth:           -497.449922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.237675 meters
#   Minimum depth: 498.069492 meters looking forward 200.000000 meters along route
#   Maximum depth: 508.367791 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 448.069492 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.812966;
longitude = -118.579311;
duration = 404;
initialDepth = 454.949757;
finalDepth = 448.069492;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.315093
#   Actual altitude:          59.315093
#   Commanded vehicle depth:  448.069492 
#   Seafloor depth:           -504.590590
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.238036 meters
#   Minimum depth: 504.949757 meters looking forward 200.000000 meters along route
#   Maximum depth: 509.974172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 454.949757 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.812650;
longitude = -118.580337;
duration = 404;
initialDepth = 458.370425;
finalDepth = 454.949757;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.521098
#   Actual altitude:          56.521098
#   Commanded vehicle depth:  454.949757 
#   Seafloor depth:           -508.374090
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.238399 meters
#   Minimum depth: 508.370425 meters looking forward 200.000000 meters along route
#   Maximum depth: 511.459132 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 458.370425 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.812334;
longitude = -118.581363;
duration = 404;
initialDepth = 460.115996;
finalDepth = 458.370425;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.424333
#   Actual altitude:          53.424333
#   Commanded vehicle depth:  458.370425 
#   Seafloor depth:           -509.994247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 100.069206 meters
#   Minimum depth: 510.115996 meters looking forward 200.000000 meters along route
#   Maximum depth: 513.644649 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 460.115996 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.812018;
longitude = -118.582389;
duration = 400;
initialDepth = 461.553778;
finalDepth = 460.115996;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.623822
#   Actual altitude:          51.623822
#   Commanded vehicle depth:  460.115996 
#   Seafloor depth:           -511.473796
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.123760 meters
#   Minimum depth: 511.553778 meters looking forward 200.000000 meters along route
#   Maximum depth: 515.905614 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 461.553778 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.811706;
longitude = -118.583403;
duration = 404;
initialDepth = 464.130852;
finalDepth = 461.553778;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2860219999999
#   Actual altitude:          52.2860219999999
#   Commanded vehicle depth:  461.553778 
#   Seafloor depth:           -513.839800
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.124121 meters
#   Minimum depth: 514.130852 meters looking forward 200.000000 meters along route
#   Maximum depth: 516.877107 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 464.130852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.811390;
longitude = -118.584428;
duration = 404;
initialDepth = 466.066102;
finalDepth = 464.130852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2860219999999
#   Actual altitude:          52.2860219999999
#   Commanded vehicle depth:  464.130852 
#   Seafloor depth:           -515.952071
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.124482 meters
#   Minimum depth: 516.066102 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.058073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 466.066102 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.811075;
longitude = -118.585453;
duration = 404;
initialDepth = 467.259658;
finalDepth = 466.066102;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.821219
#   Actual altitude:          51.821219
#   Commanded vehicle depth:  466.066102 
#   Seafloor depth:           -516.981449
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.124844 meters
#   Minimum depth: 517.259658 meters looking forward 200.000000 meters along route
#   Maximum depth: 522.687597 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 467.259658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.810759;
longitude = -118.586478;
duration = 404;
initialDepth = 469.472769;
finalDepth = 467.259658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.950646
#   Actual altitude:          51.950646
#   Commanded vehicle depth:  467.259658 
#   Seafloor depth:           -519.210304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.125204 meters
#   Minimum depth: 519.472769 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.296301 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 469.472769 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.810443;
longitude = -118.587503;
duration = 404;
initialDepth = 473.383792;
finalDepth = 469.472769;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4357590000001
#   Actual altitude:          53.4357590000001
#   Commanded vehicle depth:  469.472769 
#   Seafloor depth:           -522.908528
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.125566 meters
#   Minimum depth: 523.383792 meters looking forward 200.000000 meters along route
#   Maximum depth: 539.902509 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 473.383792 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.810128;
longitude = -118.588527;
duration = 404;
initialDepth = 481.305330;
finalDepth = 473.383792;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.239776
#   Actual altitude:          57.239776
#   Commanded vehicle depth:  473.383792 
#   Seafloor depth:           -530.623568
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.125926 meters
#   Minimum depth: 531.305330 meters looking forward 200.000000 meters along route
#   Maximum depth: 547.511853 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 481.305330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.809812;
longitude = -118.589552;
duration = 404;
initialDepth = 490.424032;
finalDepth = 481.305330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.7576409999999
#   Actual altitude:          58.7576409999999
#   Commanded vehicle depth:  481.30533 
#   Seafloor depth:           -540.062971
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.126288 meters
#   Minimum depth: 540.424032 meters looking forward 200.000000 meters along route
#   Maximum depth: 558.131860 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 490.424032 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.809497;
longitude = -118.590577;
duration = 404;
initialDepth = 498.367763;
finalDepth = 490.424032;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.7576409999999
#   Actual altitude:          58.7576409999999
#   Commanded vehicle depth:  490.424032 
#   Seafloor depth:           -547.797016
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.126649 meters
#   Minimum depth: 548.367763 meters looking forward 200.000000 meters along route
#   Maximum depth: 567.077871 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 498.367763 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.809181;
longitude = -118.591602;
duration = 404;
initialDepth = 509.445678;
finalDepth = 498.367763;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.179603
#   Actual altitude:          60.179603
#   Commanded vehicle depth:  498.367763 
#   Seafloor depth:           -558.547366
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.127011 meters
#   Minimum depth: 559.445678 meters looking forward 200.000000 meters along route
#   Maximum depth: 574.906129 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 509.445678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808866;
longitude = -118.592627;
duration = 404;
initialDepth = 517.998370;
finalDepth = 509.445678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.179603
#   Actual altitude:          60.179603
#   Commanded vehicle depth:  509.445678 
#   Seafloor depth:           -567.361865
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.127371 meters
#   Minimum depth: 567.998370 meters looking forward 200.000000 meters along route
#   Maximum depth: 584.208179 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 517.998370 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808550;
longitude = -118.593652;
duration = 404;
initialDepth = 525.396350;
finalDepth = 517.998370;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9161869999999
#   Actual altitude:          57.9161869999999
#   Commanded vehicle depth:  517.99837 
#   Seafloor depth:           -575.181909
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.127733 meters
#   Minimum depth: 575.396350 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.680642 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 525.396350 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808234;
longitude = -118.594676;
duration = 404;
initialDepth = 534.666885;
finalDepth = 525.396350;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.059717
#   Actual altitude:          59.059717
#   Commanded vehicle depth:  525.39635 
#   Seafloor depth:           -584.456067
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.128095 meters
#   Minimum depth: 584.666885 meters looking forward 200.000000 meters along route
#   Maximum depth: 604.704838 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 534.666885 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807919;
longitude = -118.595701;
duration = 404;
initialDepth = 544.338866;
finalDepth = 534.666885;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.353443
#   Actual altitude:          59.353443
#   Commanded vehicle depth:  534.666885 
#   Seafloor depth:           -594.020328
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.128455 meters
#   Minimum depth: 594.338866 meters looking forward 200.000000 meters along route
#   Maximum depth: 616.446008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 544.338866 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807603;
longitude = -118.596726;
duration = 404;
initialDepth = 555.320219;
finalDepth = 544.338866;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.6665999999999
#   Actual altitude:          60.6665999999999
#   Commanded vehicle depth:  544.338866 
#   Seafloor depth:           -605.005466
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.128817 meters
#   Minimum depth: 605.320219 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.360832 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 555.320219 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807288;
longitude = -118.597751;
duration = 404;
initialDepth = 566.689419;
finalDepth = 555.320219;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.2437930000001
#   Actual altitude:          61.2437930000001
#   Commanded vehicle depth:  555.320219 
#   Seafloor depth:           -616.564012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.129178 meters
#   Minimum depth: 616.689419 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.721413 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 566.689419 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806972;
longitude = -118.598776;
duration = 404;
initialDepth = 578.166456;
finalDepth = 566.689419;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.2437930000001
#   Actual altitude:          61.2437930000001
#   Commanded vehicle depth:  566.689419 
#   Seafloor depth:           -627.725858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.129540 meters
#   Minimum depth: 628.166456 meters looking forward 200.000000 meters along route
#   Maximum depth: 655.527247 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 578.166456 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806657;
longitude = -118.599801;
duration = 404;
initialDepth = 591.475085;
finalDepth = 578.166456;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.883372
#   Actual altitude:          62.883372
#   Commanded vehicle depth:  578.166456 
#   Seafloor depth:           -641.049828
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.129901 meters
#   Minimum depth: 641.475085 meters looking forward 200.000000 meters along route
#   Maximum depth: 675.072069 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 591.475085 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806341;
longitude = -118.600825;
duration = 404;
initialDepth = 606.331281;
finalDepth = 591.475085;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.384317
#   Actual altitude:          64.384317
#   Commanded vehicle depth:  591.475085 
#   Seafloor depth:           -655.859402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.130263 meters
#   Minimum depth: 656.331281 meters looking forward 200.000000 meters along route
#   Maximum depth: 696.860194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 606.331281 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806026;
longitude = -118.601850;
duration = 404;
initialDepth = 626.213280;
finalDepth = 606.331281;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.1775230000001
#   Actual altitude:          69.1775230000001
#   Commanded vehicle depth:  606.331281 
#   Seafloor depth:           -675.508804
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.130624 meters
#   Minimum depth: 676.213280 meters looking forward 200.000000 meters along route
#   Maximum depth: 713.187721 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 626.213280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805710;
longitude = -118.602875;
duration = 404;
initialDepth = 647.749245;
finalDepth = 626.213280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.988705
#   Actual altitude:          70.988705
#   Commanded vehicle depth:  626.21328 
#   Seafloor depth:           -697.201985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.130985 meters
#   Minimum depth: 697.749245 meters looking forward 200.000000 meters along route
#   Maximum depth: 729.631338 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.749245 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805394;
longitude = -118.603900;
duration = 404;
initialDepth = 664.167013;
finalDepth = 647.749245;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.988705
#   Actual altitude:          70.988705
#   Commanded vehicle depth:  647.749245 
#   Seafloor depth:           -713.529832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.131347 meters
#   Minimum depth: 714.167013 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.537151 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 664.167013 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805079;
longitude = -118.604925;
duration = 404;
initialDepth = 679.797960;
finalDepth = 664.167013;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.7805870000001
#   Actual altitude:          65.7805870000001
#   Commanded vehicle depth:  664.167013 
#   Seafloor depth:           -729.726195
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.131708 meters
#   Minimum depth: 729.797960 meters looking forward 200.000000 meters along route
#   Maximum depth: 745.698660 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 679.797960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804763;
longitude = -118.605950;
duration = 404;
initialDepth = 687.031733;
finalDepth = 679.797960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.559182
#   Actual altitude:          65.559182
#   Commanded vehicle depth:  679.79796 
#   Seafloor depth:           -736.685169
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.132070 meters
#   Minimum depth: 737.031733 meters looking forward 200.000000 meters along route
#   Maximum depth: 755.111483 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 687.031733 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804448;
longitude = -118.606974;
duration = 404;
initialDepth = 696.158044;
finalDepth = 687.031733;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.79863
#   Actual altitude:          58.79863
#   Commanded vehicle depth:  687.031733 
#   Seafloor depth:           -745.830363
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.132432 meters
#   Minimum depth: 746.158044 meters looking forward 200.000000 meters along route
#   Maximum depth: 762.908083 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 696.158044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804132;
longitude = -118.607999;
duration = 404;
initialDepth = 705.771427;
finalDepth = 696.158044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.120764
#   Actual altitude:          59.120764
#   Commanded vehicle depth:  696.158044 
#   Seafloor depth:           -755.278808
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.132793 meters
#   Minimum depth: 755.771427 meters looking forward 200.000000 meters along route
#   Maximum depth: 771.882409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 705.771427 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803817;
longitude = -118.609024;
duration = 404;
initialDepth = 713.631020;
finalDepth = 705.771427;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.120764
#   Actual altitude:          59.120764
#   Commanded vehicle depth:  705.771427 
#   Seafloor depth:           -763.077776
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.133155 meters
#   Minimum depth: 763.631020 meters looking forward 200.000000 meters along route
#   Maximum depth: 780.234284 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 713.631020 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803501;
longitude = -118.610049;
duration = 404;
initialDepth = 722.285532;
finalDepth = 713.631020;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.34034
#   Actual altitude:          58.34034
#   Commanded vehicle depth:  713.63102 
#   Seafloor depth:           -771.971360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.133516 meters
#   Minimum depth: 772.285532 meters looking forward 200.000000 meters along route
#   Maximum depth: 787.637510 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 722.285532 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803186;
longitude = -118.611074;
duration = 404;
initialDepth = 730.705000;
finalDepth = 722.285532;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.34034
#   Actual altitude:          58.34034
#   Commanded vehicle depth:  722.285532 
#   Seafloor depth:           -780.327775
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.133878 meters
#   Minimum depth: 780.705000 meters looking forward 200.000000 meters along route
#   Maximum depth: 795.079559 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 730.705000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802870;
longitude = -118.612099;
duration = 404;
initialDepth = 737.993307;
finalDepth = 730.705000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.042243
#   Actual altitude:          58.042243
#   Commanded vehicle depth:  730.705 
#   Seafloor depth:           -787.696316
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.134239 meters
#   Minimum depth: 787.993307 meters looking forward 200.000000 meters along route
#   Maximum depth: 801.325629 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 737.993307 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802554;
longitude = -118.613124;
duration = 404;
initialDepth = 745.265629;
finalDepth = 737.993307;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.114099
#   Actual altitude:          57.114099
#   Commanded vehicle depth:  737.993307 
#   Seafloor depth:           -795.107406
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.134602 meters
#   Minimum depth: 795.265629 meters looking forward 200.000000 meters along route
#   Maximum depth: 805.804087 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 745.265629 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802239;
longitude = -118.614148;
duration = 404;
initialDepth = 751.616563;
finalDepth = 745.265629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.114099
#   Actual altitude:          57.114099
#   Commanded vehicle depth:  745.265629 
#   Seafloor depth:           -801.366780
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.134963 meters
#   Minimum depth: 801.616563 meters looking forward 200.000000 meters along route
#   Maximum depth: 811.563235 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 751.616563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801923;
longitude = -118.615173;
duration = 404;
initialDepth = 756.202748;
finalDepth = 751.616563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.101151
#   Actual altitude:          56.101151
#   Commanded vehicle depth:  751.616563 
#   Seafloor depth:           -805.845791
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.135324 meters
#   Minimum depth: 806.202748 meters looking forward 200.000000 meters along route
#   Maximum depth: 818.726570 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 756.202748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801608;
longitude = -118.616198;
duration = 404;
initialDepth = 761.905564;
finalDepth = 756.202748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.391206
#   Actual altitude:          55.391206
#   Commanded vehicle depth:  756.202748 
#   Seafloor depth:           -811.593954
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.135687 meters
#   Minimum depth: 811.905564 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.472340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 761.905564 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801292;
longitude = -118.617223;
duration = 404;
initialDepth = 768.981910;
finalDepth = 761.905564;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.83823
#   Actual altitude:          56.83823
#   Commanded vehicle depth:  761.905564 
#   Seafloor depth:           -818.743794
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.136048 meters
#   Minimum depth: 818.981910 meters looking forward 200.000000 meters along route
#   Maximum depth: 827.828650 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 768.981910 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800977;
longitude = -118.618248;
duration = 404;
initialDepth = 773.665920;
finalDepth = 768.981910;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.83823
#   Actual altitude:          56.83823
#   Commanded vehicle depth:  768.98191 
#   Seafloor depth:           -823.479990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.136410 meters
#   Minimum depth: 823.665920 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.451084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.665920 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800661;
longitude = -118.619273;
duration = 404;
initialDepth = 777.889058;
finalDepth = 773.665920;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.4980800000001
#   Actual altitude:          54.4980800000001
#   Commanded vehicle depth:  773.66592 
#   Seafloor depth:           -827.829592
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.246203 meters
#   Minimum depth: 827.889058 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.846493 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.889058 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800345;
longitude = -118.620297;
duration = 404;
initialDepth = 782.724200;
finalDepth = 777.889058;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.562332
#   Actual altitude:          54.562332
#   Commanded vehicle depth:  777.889058 
#   Seafloor depth:           -832.451390
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.252507 meters
#   Minimum depth: 832.724200 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.290696 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.724200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800030;
longitude = -118.621323;
duration = 405;
initialDepth = 785.939356;
finalDepth = 782.724200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.562332
#   Actual altitude:          54.562332
#   Commanded vehicle depth:  782.7242 
#   Seafloor depth:           -835.848485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.252870 meters
#   Minimum depth: 835.939356 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.856257 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.939356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799714;
longitude = -118.622349;
duration = 405;
initialDepth = 789.506273;
finalDepth = 785.939356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.36068
#   Actual altitude:          53.36068
#   Commanded vehicle depth:  785.939356 
#   Seafloor depth:           -839.300036
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.253233 meters
#   Minimum depth: 839.506273 meters looking forward 200.000000 meters along route
#   Maximum depth: 845.265089 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.506273 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799398;
longitude = -118.623375;
duration = 405;
initialDepth = 792.180082;
finalDepth = 789.506273;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.36068
#   Actual altitude:          53.36068
#   Commanded vehicle depth:  789.506273 
#   Seafloor depth:           -841.872795
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.253595 meters
#   Minimum depth: 842.180082 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.850100 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.180082 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799082;
longitude = -118.624401;
duration = 405;
initialDepth = 795.476199;
finalDepth = 792.180082;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0967430000001
#   Actual altitude:          53.0967430000001
#   Commanded vehicle depth:  792.180082 
#   Seafloor depth:           -845.276825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.253958 meters
#   Minimum depth: 845.476199 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.472740 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 795.476199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798766;
longitude = -118.625427;
duration = 405;
initialDepth = 798.647777;
finalDepth = 795.476199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.399264
#   Actual altitude:          53.399264
#   Commanded vehicle depth:  795.476199 
#   Seafloor depth:           -848.875463
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.254321 meters
#   Minimum depth: 848.647777 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.024122 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.647777 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798450;
longitude = -118.626453;
duration = 405;
initialDepth = 798.647777;
finalDepth = 798.647777;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.399264
#   Actual altitude:          53.399264
#   Commanded vehicle depth:  798.647777 
#   Seafloor depth:           -850.413696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.254683 meters
#   Minimum depth: 848.647777 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.477796 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.647777 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798134;
longitude = -118.627479;
duration = 405;
initialDepth = 799.120572;
finalDepth = 798.647777;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7659189999999
#   Actual altitude:          51.7659189999999
#   Commanded vehicle depth:  798.647777 
#   Seafloor depth:           -849.033413
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.255047 meters
#   Minimum depth: 849.120572 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.287911 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.120572 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797818;
longitude = -118.628505;
duration = 405;
initialDepth = 801.609283;
finalDepth = 799.120572;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3779179999999
#   Actual altitude:          52.3779179999999
#   Commanded vehicle depth:  799.120572 
#   Seafloor depth:           -851.498490
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.255409 meters
#   Minimum depth: 851.609283 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.519273 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.609283 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797502;
longitude = -118.629531;
duration = 405;
initialDepth = 803.402466;
finalDepth = 801.609283;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3779179999999
#   Actual altitude:          52.3779179999999
#   Commanded vehicle depth:  801.609283 
#   Seafloor depth:           -853.303928
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.255772 meters
#   Minimum depth: 853.402466 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.561755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 803.402466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797186;
longitude = -118.630557;
duration = 405;
initialDepth = 805.343414;
finalDepth = 803.402466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.885676
#   Actual altitude:          51.885676
#   Commanded vehicle depth:  803.402466 
#   Seafloor depth:           -855.288142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.256134 meters
#   Minimum depth: 855.343414 meters looking forward 200.000000 meters along route
#   Maximum depth: 859.412505 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 805.343414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796870;
longitude = -118.631583;
duration = 405;
initialDepth = 807.768206;
finalDepth = 805.343414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2548919999999
#   Actual altitude:          52.2548919999999
#   Commanded vehicle depth:  805.343414 
#   Seafloor depth:           -857.598306
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.256498 meters
#   Minimum depth: 857.768206 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.873873 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 807.768206 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796554;
longitude = -118.632609;
duration = 405;
initialDepth = 809.518466;
finalDepth = 807.768206;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2548919999999
#   Actual altitude:          52.2548919999999
#   Commanded vehicle depth:  807.768206 
#   Seafloor depth:           -859.432035
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.256861 meters
#   Minimum depth: 859.518466 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.723311 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 809.518466 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796239;
longitude = -118.633635;
duration = 405;
initialDepth = 811.011796;
finalDepth = 809.518466;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6638290000001
#   Actual altitude:          51.6638290000001
#   Commanded vehicle depth:  809.518466 
#   Seafloor depth:           -860.897978
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.257223 meters
#   Minimum depth: 861.011796 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.136854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.011796 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795923;
longitude = -118.634661;
duration = 405;
initialDepth = 811.742963;
finalDepth = 811.011796;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.379512
#   Actual altitude:          51.379512
#   Commanded vehicle depth:  811.011796 
#   Seafloor depth:           -861.727600
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 101.257587 meters
#   Minimum depth: 861.742963 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.136854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.742963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795607;
longitude = -118.635687;
duration = 405;
initialDepth = 811.532209;
finalDepth = 811.742963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.355688
#   Actual altitude:          51.355688
#   Commanded vehicle depth:  811.742963 
#   Seafloor depth:           -863.098651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 94
#   Segment length 104.087506 meters
#   Minimum depth: 861.532209 meters looking forward 200.000000 meters along route
#   Maximum depth: 862.897664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.532209 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795291;
longitude = -118.636713;
duration = 416;
initialDepth = 811.519699;
finalDepth = 811.532209;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.355688
#   Actual altitude:          51.355688
#   Commanded vehicle depth:  811.532209 
#   Seafloor depth:           -862.428001
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
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 93
#   Segment length 140.593942 meters
#   Minimum depth: 861.519699 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.548543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.519699 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794966;
longitude = -118.637768;
duration = 562;
# abortOnTimeout    = True; 
initialDepth = 813.087072;
finalDepth = 811.519699;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.895792
#   Actual altitude:          50.895792
#   Commanded vehicle depth:  811.519699 
#   Seafloor depth:           -861.519699
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626261 meters
#   Minimum depth: 863.087072 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.646846 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.087072 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793719;
longitude = -118.638039;
duration = 406;
initialDepth = 814.375766;
finalDepth = 813.087072;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.498695
#   Actual altitude:          51.498695
#   Commanded vehicle depth:  813.087072 
#   Seafloor depth:           -864.585767
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626288 meters
#   Minimum depth: 864.375766 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.646846 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.375766 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792817;
longitude = -118.638235;
duration = 406;
initialDepth = 814.203347;
finalDepth = 814.375766;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.498695
#   Actual altitude:          51.498695
#   Commanded vehicle depth:  814.375766 
#   Seafloor depth:           -864.615894
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626315 meters
#   Minimum depth: 864.203347 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.620767 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.203347 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791915;
longitude = -118.638431;
duration = 406;
initialDepth = 813.217501;
finalDepth = 814.203347;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.240128
#   Actual altitude:          50.240128
#   Commanded vehicle depth:  814.203347 
#   Seafloor depth:           -864.390500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626342 meters
#   Minimum depth: 863.217501 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.386813 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.217501 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791014;
longitude = -118.638627;
duration = 406;
initialDepth = 812.906398;
finalDepth = 813.217501;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.970558
#   Actual altitude:          50.970558
#   Commanded vehicle depth:  813.217501 
#   Seafloor depth:           -864.188059
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626369 meters
#   Minimum depth: 862.906398 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.172154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.906398 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790112;
longitude = -118.638823;
duration = 406;
initialDepth = 812.834579;
finalDepth = 812.906398;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.970558
#   Actual altitude:          50.970558
#   Commanded vehicle depth:  812.906398 
#   Seafloor depth:           -863.208102
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626396 meters
#   Minimum depth: 862.834579 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.088220 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.834579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.789211;
longitude = -118.639019;
duration = 406;
initialDepth = 812.834579;
finalDepth = 812.834579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3017040000001
#   Actual altitude:          50.3017040000001
#   Commanded vehicle depth:  812.834579 
#   Seafloor depth:           -862.848771
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 102.826940 meters
#   Minimum depth: 862.834579 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.482384 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.834579 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788309;
longitude = -118.639215;
duration = 411;
initialDepth = 814.263371;
finalDepth = 812.834579;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3507470000001
#   Actual altitude:          51.3507470000001
#   Commanded vehicle depth:  812.834579 
#   Seafloor depth:           -864.185326
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 100.425934 meters
#   Minimum depth: 864.263371 meters looking forward 200.000000 meters along route
#   Maximum depth: 866.599529 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.263371 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787397;
longitude = -118.639413;
duration = 401;
initialDepth = 814.836031;
finalDepth = 814.263371;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3507470000001
#   Actual altitude:          51.3507470000001
#   Commanded vehicle depth:  814.263371 
#   Seafloor depth:           -865.478146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626477 meters
#   Minimum depth: 864.836031 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.595941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.836031 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786506;
longitude = -118.639607;
duration = 406;
initialDepth = 816.191367;
finalDepth = 814.836031;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.214775
#   Actual altitude:          51.214775
#   Commanded vehicle depth:  814.836031 
#   Seafloor depth:           -865.404137
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626505 meters
#   Minimum depth: 866.191367 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.620084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 816.191367 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785604;
longitude = -118.639803;
duration = 406;
initialDepth = 821.009225;
finalDepth = 816.191367;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7850579999999
#   Actual altitude:          54.7850579999999
#   Commanded vehicle depth:  816.191367 
#   Seafloor depth:           -870.976425
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626532 meters
#   Minimum depth: 871.009225 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.729727 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.009225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784703;
longitude = -118.639999;
duration = 406;
initialDepth = 823.307874;
finalDepth = 821.009225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7850579999999
#   Actual altitude:          54.7850579999999
#   Commanded vehicle depth:  821.009225 
#   Seafloor depth:           -873.383883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626558 meters
#   Minimum depth: 873.307874 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.569450 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.307874 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.783801;
longitude = -118.640195;
duration = 406;
initialDepth = 824.152700;
finalDepth = 823.307874;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.374658
#   Actual altitude:          52.374658
#   Commanded vehicle depth:  823.307874 
#   Seafloor depth:           -874.073046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626586 meters
#   Minimum depth: 874.152700 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.964194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.152700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782899;
longitude = -118.640391;
duration = 406;
initialDepth = 825.475686;
finalDepth = 824.152700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5068640000001
#   Actual altitude:          51.5068640000001
#   Commanded vehicle depth:  824.1527 
#   Seafloor depth:           -875.659564
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.626613 meters
#   Minimum depth: 875.475686 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.964194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 825.475686 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781998;
longitude = -118.640587;
duration = 406;
initialDepth = 825.076099;
finalDepth = 825.475686;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5068640000001
#   Actual altitude:          51.5068640000001
#   Commanded vehicle depth:  825.475686 
#   Seafloor depth:           -875.533319
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.859455 meters
#   Minimum depth: 875.076099 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.673828 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 825.076099 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781096;
longitude = -118.640783;
duration = 407;
initialDepth = 825.076099;
finalDepth = 825.076099;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.477125
#   Actual altitude:          50.477125
#   Commanded vehicle depth:  825.076099 
#   Seafloor depth:           -875.553224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 101.393852 meters
#   Minimum depth: 875.076099 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.097649 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 825.076099 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780193;
longitude = -118.640979;
duration = 405;
initialDepth = 825.231324;
finalDepth = 825.076099;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.477125
#   Actual altitude:          50.477125
#   Commanded vehicle depth:  825.076099 
#   Seafloor depth:           -875.324666
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 93
#   Segment length 100.663590 meters
#   Minimum depth: 875.231324 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.274427 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 825.231324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779293;
longitude = -118.641175;
duration = 402;
initialDepth = 823.904121;
finalDepth = 825.231324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.9657550000001
#   Actual altitude:          50.9657550000001
#   Commanded vehicle depth:  825.231324 
#   Seafloor depth:           -876.197079
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
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 92
#   Segment length 132.156407 meters
#   Minimum depth: 873.904121 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.042502 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.904121 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778400;
longitude = -118.641369;
duration = 528;
# abortOnTimeout    = True; 
initialDepth = 823.112717;
finalDepth = 823.904121;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7858199999999
#   Actual altitude:          51.7858199999999
#   Commanded vehicle depth:  823.904121 
#   Seafloor depth:           -875.689941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.128717 meters
#   Minimum depth: 873.112717 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.567110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.112717 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777755;
longitude = -118.640169;
duration = 404;
initialDepth = 820.923389;
finalDepth = 823.112717;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7858199999999
#   Actual altitude:          51.7858199999999
#   Commanded vehicle depth:  823.112717 
#   Seafloor depth:           -873.903910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.129092 meters
#   Minimum depth: 870.923389 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.281940 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.923389 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777261;
longitude = -118.639251;
duration = 404;
initialDepth = 820.213251;
finalDepth = 820.923389;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.169443
#   Actual altitude:          52.169443
#   Commanded vehicle depth:  820.923389 
#   Seafloor depth:           -873.092832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.297757 meters
#   Minimum depth: 870.213251 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.877918 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.213251 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776767;
longitude = -118.638333;
duration = 405;
initialDepth = 818.245097;
finalDepth = 820.213251;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.169443
#   Actual altitude:          52.169443
#   Commanded vehicle depth:  820.213251 
#   Seafloor depth:           -870.939873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.566560 meters
#   Minimum depth: 868.245097 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.937793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 818.245097 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776273;
longitude = -118.637414;
duration = 406;
initialDepth = 817.045772;
finalDepth = 818.245097;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.964514
#   Actual altitude:          51.964514
#   Commanded vehicle depth:  818.245097 
#   Seafloor depth:           -870.209611
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.566940 meters
#   Minimum depth: 867.045772 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.937793 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 817.045772 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775777;
longitude = -118.636492;
duration = 406;
initialDepth = 812.358341;
finalDepth = 817.045772;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0243079999999
#   Actual altitude:          53.0243079999999
#   Commanded vehicle depth:  817.045772 
#   Seafloor depth:           -870.070080
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 100.088872 meters
#   Minimum depth: 862.358341 meters looking forward 200.000000 meters along route
#   Maximum depth: 869.746059 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.358341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775281;
longitude = -118.635570;
duration = 400;
initialDepth = 803.581112;
finalDepth = 812.358341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.721179
#   Actual altitude:          54.721179
#   Commanded vehicle depth:  812.358341 
#   Seafloor depth:           -867.079520
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.130972 meters
#   Minimum depth: 853.581112 meters looking forward 200.000000 meters along route
#   Maximum depth: 867.604180 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 803.581112 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774792;
longitude = -118.634661;
duration = 404;
initialDepth = 798.480587;
finalDepth = 803.581112;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.074145
#   Actual altitude:          58.074145
#   Commanded vehicle depth:  803.581112 
#   Seafloor depth:           -861.655257
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.131347 meters
#   Minimum depth: 848.480587 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.645509 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.480587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774299;
longitude = -118.633743;
duration = 404;
initialDepth = 793.952641;
finalDepth = 798.480587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.074145
#   Actual altitude:          58.074145
#   Commanded vehicle depth:  798.480587 
#   Seafloor depth:           -853.190585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.131724 meters
#   Minimum depth: 843.952641 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.829372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.952641 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773805;
longitude = -118.632825;
duration = 404;
initialDepth = 789.092134;
finalDepth = 793.952641;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.709998
#   Actual altitude:          54.709998
#   Commanded vehicle depth:  793.952641 
#   Seafloor depth:           -848.102962
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.132100 meters
#   Minimum depth: 839.092134 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.129641 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.092134 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773311;
longitude = -118.631907;
duration = 404;
initialDepth = 784.255894;
finalDepth = 789.092134;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.037507
#   Actual altitude:          59.037507
#   Commanded vehicle depth:  789.092134 
#   Seafloor depth:           -848.129641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.132476 meters
#   Minimum depth: 834.255894 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.717394 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.255894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772817;
longitude = -118.630989;
duration = 404;
initialDepth = 781.797879;
finalDepth = 784.255894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.037507
#   Actual altitude:          59.037507
#   Commanded vehicle depth:  784.255894 
#   Seafloor depth:           -838.817622
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.132851 meters
#   Minimum depth: 831.797879 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.607751 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.797879 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772324;
longitude = -118.630071;
duration = 404;
initialDepth = 780.160626;
finalDepth = 781.797879;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.561728
#   Actual altitude:          54.561728
#   Commanded vehicle depth:  781.797879 
#   Seafloor depth:           -834.201741
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.133228 meters
#   Minimum depth: 830.160626 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.127673 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 780.160626 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771830;
longitude = -118.629153;
duration = 404;
initialDepth = 777.632840;
finalDepth = 780.160626;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.403862
#   Actual altitude:          52.403862
#   Commanded vehicle depth:  780.160626 
#   Seafloor depth:           -831.640139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.133604 meters
#   Minimum depth: 827.632840 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.047430 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.632840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771336;
longitude = -118.628235;
duration = 404;
initialDepth = 777.632840;
finalDepth = 777.632840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6911700000001
#   Actual altitude:          52.6911700000001
#   Commanded vehicle depth:  777.63284 
#   Seafloor depth:           -830.324010
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.133980 meters
#   Minimum depth: 827.632840 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.238454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.632840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770842;
longitude = -118.627317;
duration = 404;
initialDepth = 777.893225;
finalDepth = 777.632840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.6911700000001
#   Actual altitude:          52.6911700000001
#   Commanded vehicle depth:  777.63284 
#   Seafloor depth:           -827.768163
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.134355 meters
#   Minimum depth: 827.893225 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.377733 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.893225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770349;
longitude = -118.626399;
duration = 404;
initialDepth = 777.893225;
finalDepth = 777.893225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4821449999999
#   Actual altitude:          50.4821449999999
#   Commanded vehicle depth:  777.893225 
#   Seafloor depth:           -828.375370
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.134732 meters
#   Minimum depth: 827.893225 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.256435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.893225 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.769855;
longitude = -118.625481;
duration = 404;
initialDepth = 779.028280;
finalDepth = 777.893225;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8301749999999
#   Actual altitude:          50.8301749999999
#   Commanded vehicle depth:  777.893225 
#   Seafloor depth:           -828.723400
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.135108 meters
#   Minimum depth: 829.028280 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.451636 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.028280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.769361;
longitude = -118.624563;
duration = 404;
initialDepth = 780.066459;
finalDepth = 779.028280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8301749999999
#   Actual altitude:          50.8301749999999
#   Commanded vehicle depth:  779.02828 
#   Seafloor depth:           -829.794684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.135484 meters
#   Minimum depth: 830.066459 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.043323 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 780.066459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.768867;
longitude = -118.623645;
duration = 404;
initialDepth = 782.826143;
finalDepth = 780.066459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.505819
#   Actual altitude:          52.505819
#   Commanded vehicle depth:  780.066459 
#   Seafloor depth:           -832.572278
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.135860 meters
#   Minimum depth: 832.826143 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.337284 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.826143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.768374;
longitude = -118.622727;
duration = 404;
initialDepth = 783.716614;
finalDepth = 782.826143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.505819
#   Actual altitude:          52.505819
#   Commanded vehicle depth:  782.826143 
#   Seafloor depth:           -833.981204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 101.136236 meters
#   Minimum depth: 833.716614 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.339579 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.716614 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.767880;
longitude = -118.621809;
duration = 404;
initialDepth = 781.184116;
finalDepth = 783.716614;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6229649999999
#   Actual altitude:          51.6229649999999
#   Commanded vehicle depth:  783.716614 
#   Seafloor depth:           -835.339579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 92
#   Segment length 104.472426 meters
#   Minimum depth: 831.184116 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.337707 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.184116 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.767386;
longitude = -118.620891;
duration = 417;
initialDepth = 779.221729;
finalDepth = 781.184116;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.491414
#   Actual altitude:          52.491414
#   Commanded vehicle depth:  781.184116 
#   Seafloor depth:           -833.675530
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.49;
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 91
#   Segment length 167.283437 meters
#   Minimum depth: 829.221729 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.650740 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.221729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.766876;
longitude = -118.619943;
duration = 669;
# abortOnTimeout    = True; 
initialDepth = 779.187500;
finalDepth = 779.221729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.491414
#   Actual altitude:          52.491414
#   Commanded vehicle depth:  779.221729 
#   Seafloor depth:           -831.011719
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.49;
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 90
#   Segment length 165.624818 meters
#   Minimum depth: 829.187500 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.612689 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.187500 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.768137;
longitude = -118.618952;
duration = 662;
# abortOnTimeout    = True; 
initialDepth = 779.859050;
finalDepth = 779.187500;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.78999
#   Actual altitude:          51.78999
#   Commanded vehicle depth:  779.1875 
#   Seafloor depth:           -829.187500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.872612 meters
#   Minimum depth: 829.859050 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.612689 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.859050 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.768940;
longitude = -118.620459;
duration = 403;
initialDepth = 778.250224;
finalDepth = 779.859050;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.804835
#   Actual altitude:          50.804835
#   Commanded vehicle depth:  779.85905 
#   Seafloor depth:           -830.663885
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.872238 meters
#   Minimum depth: 828.250224 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.568200 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.250224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.769430;
longitude = -118.621377;
duration = 403;
initialDepth = 776.336933;
finalDepth = 778.250224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.279764
#   Actual altitude:          52.279764
#   Commanded vehicle depth:  778.250224 
#   Seafloor depth:           -830.529988
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 101.631051 meters
#   Minimum depth: 826.336933 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.568200 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 776.336933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.769919;
longitude = -118.622295;
duration = 406;
initialDepth = 775.563513;
finalDepth = 776.336933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.279764
#   Actual altitude:          52.279764
#   Commanded vehicle depth:  776.336933 
#   Seafloor depth:           -828.221956
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.112304 meters
#   Minimum depth: 825.563513 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.290047 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 775.563513 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770412;
longitude = -118.623220;
duration = 400;
initialDepth = 774.198712;
finalDepth = 775.563513;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8850229999999
#   Actual altitude:          51.8850229999999
#   Commanded vehicle depth:  775.563513 
#   Seafloor depth:           -826.300406
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.871117 meters
#   Minimum depth: 824.198712 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.635346 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.198712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770898;
longitude = -118.624131;
duration = 403;
initialDepth = 774.198712;
finalDepth = 774.198712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.349576
#   Actual altitude:          51.349576
#   Commanded vehicle depth:  774.198712 
#   Seafloor depth:           -825.548288
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.870743 meters
#   Minimum depth: 824.198712 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.988752 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.198712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771387;
longitude = -118.625049;
duration = 403;
initialDepth = 774.740224;
finalDepth = 774.198712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.349576
#   Actual altitude:          51.349576
#   Commanded vehicle depth:  774.198712 
#   Seafloor depth:           -824.643856
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.870370 meters
#   Minimum depth: 824.740224 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.565705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.740224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771877;
longitude = -118.625967;
duration = 403;
initialDepth = 777.041661;
finalDepth = 774.740224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2604249999999
#   Actual altitude:          52.2604249999999
#   Commanded vehicle depth:  774.740224 
#   Seafloor depth:           -827.000649
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.869996 meters
#   Minimum depth: 827.041661 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.845976 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.041661 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772366;
longitude = -118.626885;
duration = 403;
initialDepth = 780.362826;
finalDepth = 777.041661;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.817643
#   Actual altitude:          52.817643
#   Commanded vehicle depth:  777.041661 
#   Seafloor depth:           -829.859304
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.869623 meters
#   Minimum depth: 830.362826 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.498664 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 780.362826 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772855;
longitude = -118.627803;
duration = 403;
initialDepth = 784.391485;
finalDepth = 780.362826;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.623512
#   Actual altitude:          53.623512
#   Commanded vehicle depth:  780.362826 
#   Seafloor depth:           -833.986338
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 101.735931 meters
#   Minimum depth: 834.391485 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.086066 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.391485 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773345;
longitude = -118.628721;
duration = 406;
initialDepth = 786.369643;
finalDepth = 784.391485;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.623512
#   Actual altitude:          53.623512
#   Commanded vehicle depth:  784.391485 
#   Seafloor depth:           -836.458929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.002193 meters
#   Minimum depth: 836.369643 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.952531 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.369643 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773838;
longitude = -118.629647;
duration = 400;
initialDepth = 792.234122;
finalDepth = 786.369643;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.734004
#   Actual altitude:          55.734004
#   Commanded vehicle depth:  786.369643 
#   Seafloor depth:           -842.103647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.868502 meters
#   Minimum depth: 842.234122 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.590522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.234122 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774324;
longitude = -118.630557;
duration = 403;
initialDepth = 798.029707;
finalDepth = 792.234122;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.740451
#   Actual altitude:          55.740451
#   Commanded vehicle depth:  792.234122 
#   Seafloor depth:           -847.974573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.868128 meters
#   Minimum depth: 848.029707 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.164381 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.029707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774813;
longitude = -118.631475;
duration = 403;
initialDepth = 800.649902;
finalDepth = 798.029707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.740451
#   Actual altitude:          55.740451
#   Commanded vehicle depth:  798.029707 
#   Seafloor depth:           -850.679389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.867755 meters
#   Minimum depth: 850.649902 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.898609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.649902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775302;
longitude = -118.632393;
duration = 403;
initialDepth = 807.636034;
finalDepth = 800.649902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.762063
#   Actual altitude:          56.762063
#   Commanded vehicle depth:  800.649902 
#   Seafloor depth:           -857.411965
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.867381 meters
#   Minimum depth: 857.636034 meters looking forward 200.000000 meters along route
#   Maximum depth: 866.332867 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 807.636034 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775792;
longitude = -118.633311;
duration = 403;
initialDepth = 811.532249;
finalDepth = 807.636034;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.762063
#   Actual altitude:          56.762063
#   Commanded vehicle depth:  807.636034 
#   Seafloor depth:           -861.670156
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.867008 meters
#   Minimum depth: 861.532249 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.862741 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.532249 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776281;
longitude = -118.634229;
duration = 403;
initialDepth = 815.989546;
finalDepth = 811.532249;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.275048
#   Actual altitude:          54.275048
#   Commanded vehicle depth:  811.532249 
#   Seafloor depth:           -865.807297
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.866634 meters
#   Minimum depth: 865.989546 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.973296 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 815.989546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776770;
longitude = -118.635147;
duration = 403;
initialDepth = 820.366338;
finalDepth = 815.989546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.93056
#   Actual altitude:          57.93056
#   Commanded vehicle depth:  815.989546 
#   Seafloor depth:           -873.920106
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.866261 meters
#   Minimum depth: 870.366338 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.973296 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.366338 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777260;
longitude = -118.636065;
duration = 403;
initialDepth = 820.366338;
finalDepth = 820.366338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.93056
#   Actual altitude:          57.93056
#   Commanded vehicle depth:  820.366338 
#   Seafloor depth:           -871.166506
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.865887 meters
#   Minimum depth: 870.366338 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.075008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.366338 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777749;
longitude = -118.636983;
duration = 403;
initialDepth = 821.008648;
finalDepth = 820.366338;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.185448
#   Actual altitude:          51.185448
#   Commanded vehicle depth:  820.366338 
#   Seafloor depth:           -871.551786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.865514 meters
#   Minimum depth: 871.008648 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.454163 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.008648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778238;
longitude = -118.637901;
duration = 403;
initialDepth = 822.382538;
finalDepth = 821.008648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.814147
#   Actual altitude:          51.814147
#   Commanded vehicle depth:  821.008648 
#   Seafloor depth:           -872.822795
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.865140 meters
#   Minimum depth: 872.382538 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.657233 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.382538 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778728;
longitude = -118.638819;
duration = 403;
initialDepth = 823.223274;
finalDepth = 822.382538;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.814147
#   Actual altitude:          51.814147
#   Commanded vehicle depth:  822.382538 
#   Seafloor depth:           -873.444722
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.864767 meters
#   Minimum depth: 873.223274 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.942130 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.223274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779217;
longitude = -118.639737;
duration = 403;
initialDepth = 824.249012;
finalDepth = 823.223274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.458465
#   Actual altitude:          51.458465
#   Commanded vehicle depth:  823.223274 
#   Seafloor depth:           -874.681739
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 100.864394 meters
#   Minimum depth: 874.249012 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.744082 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.249012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779707;
longitude = -118.640655;
duration = 403;
initialDepth = 824.653383;
finalDepth = 824.249012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.458465
#   Actual altitude:          51.458465
#   Commanded vehicle depth:  824.249012 
#   Seafloor depth:           -874.446720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 101.945677 meters
#   Minimum depth: 874.653383 meters looking forward 200.000000 meters along route
#   Maximum depth: 878.045600 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.653383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780196;
longitude = -118.641573;
duration = 407;
initialDepth = 825.365423;
finalDepth = 824.653383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.128448
#   Actual altitude:          51.128448
#   Commanded vehicle depth:  824.653383 
#   Seafloor depth:           -875.781831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 90
#   Segment length 103.150076 meters
#   Minimum depth: 875.365423 meters looking forward 200.000000 meters along route
#   Maximum depth: 879.016971 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 825.365423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780691;
longitude = -118.642501;
duration = 412;
initialDepth = 826.134228;
finalDepth = 825.365423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.128697
#   Actual altitude:          52.128697
#   Commanded vehicle depth:  825.365423 
#   Seafloor depth:           -877.494120
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 89
#   Segment length 141.329058 meters
#   Minimum depth: 876.134228 meters looking forward 200.000000 meters along route
#   Maximum depth: 879.016971 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 826.134228 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781191;
longitude = -118.643440;
duration = 565;
# abortOnTimeout    = True; 
initialDepth = 825.552462;
finalDepth = 826.134228;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.879444
#   Actual altitude:          52.879444
#   Commanded vehicle depth:  826.134228 
#   Seafloor depth:           -879.013672
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.73;
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 88
#   Segment length 169.495347 meters
#   Minimum depth: 875.552462 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.820535 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 825.552462 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782271;
longitude = -118.642630;
duration = 677;
# abortOnTimeout    = True; 
initialDepth = 824.406664;
finalDepth = 825.552462;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.879444
#   Actual altitude:          52.879444
#   Commanded vehicle depth:  825.552462 
#   Seafloor depth:           -876.249023
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.863338 meters
#   Minimum depth: 874.406664 meters looking forward 200.000000 meters along route
#   Maximum depth: 876.820535 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.406664 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781449;
longitude = -118.641087;
duration = 403;
initialDepth = 823.133547;
finalDepth = 824.406664;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.134097
#   Actual altitude:          51.134097
#   Commanded vehicle depth:  824.406664 
#   Seafloor depth:           -875.540761
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.863712 meters
#   Minimum depth: 873.133547 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.692407 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.133547 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780959;
longitude = -118.640169;
duration = 403;
initialDepth = 822.194875;
finalDepth = 823.133547;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.274505
#   Actual altitude:          51.274505
#   Commanded vehicle depth:  823.133547 
#   Seafloor depth:           -874.408052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.864085 meters
#   Minimum depth: 872.194875 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.498665 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.194875 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780470;
longitude = -118.639251;
duration = 403;
initialDepth = 821.818400;
finalDepth = 822.194875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.274505
#   Actual altitude:          51.274505
#   Commanded vehicle depth:  822.194875 
#   Seafloor depth:           -873.096250
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.864459 meters
#   Minimum depth: 871.818400 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.132558 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.818400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779981;
longitude = -118.638333;
duration = 403;
initialDepth = 820.826883;
finalDepth = 821.818400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.901375
#   Actual altitude:          50.901375
#   Commanded vehicle depth:  821.8184 
#   Seafloor depth:           -872.059617
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.864832 meters
#   Minimum depth: 870.826883 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.092226 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.826883 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779491;
longitude = -118.637415;
duration = 403;
initialDepth = 820.500605;
finalDepth = 820.826883;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.920285
#   Actual altitude:          50.920285
#   Commanded vehicle depth:  820.826883 
#   Seafloor depth:           -871.747168
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.865206 meters
#   Minimum depth: 870.500605 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.769982 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.500605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779002;
longitude = -118.636497;
duration = 403;
initialDepth = 820.485738;
finalDepth = 820.500605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.920285
#   Actual altitude:          50.920285
#   Commanded vehicle depth:  820.500605 
#   Seafloor depth:           -870.768807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.865579 meters
#   Minimum depth: 870.485738 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.773003 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.485738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778512;
longitude = -118.635579;
duration = 403;
initialDepth = 818.476094;
finalDepth = 820.485738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.2682020000001
#   Actual altitude:          50.2682020000001
#   Commanded vehicle depth:  820.485738 
#   Seafloor depth:           -870.485738
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.865953 meters
#   Minimum depth: 868.476094 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.894485 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 818.476094 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778023;
longitude = -118.634661;
duration = 403;
initialDepth = 815.327006;
finalDepth = 818.476094;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.192601
#   Actual altitude:          54.192601
#   Commanded vehicle depth:  818.476094 
#   Seafloor depth:           -872.668695
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.866326 meters
#   Minimum depth: 865.327006 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.894485 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 815.327006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777534;
longitude = -118.633743;
duration = 403;
initialDepth = 813.944632;
finalDepth = 815.327006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.192601
#   Actual altitude:          54.192601
#   Commanded vehicle depth:  815.327006 
#   Seafloor depth:           -868.473529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.866700 meters
#   Minimum depth: 863.944632 meters looking forward 200.000000 meters along route
#   Maximum depth: 868.526617 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.944632 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777044;
longitude = -118.632825;
duration = 403;
initialDepth = 809.834709;
finalDepth = 813.944632;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.146523
#   Actual altitude:          53.146523
#   Commanded vehicle depth:  813.944632 
#   Seafloor depth:           -865.210671
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.867073 meters
#   Minimum depth: 859.834709 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.182786 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 809.834709 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776555;
longitude = -118.631907;
duration = 403;
initialDepth = 804.999314;
finalDepth = 809.834709;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.1265050000001
#   Actual altitude:          54.1265050000001
#   Commanded vehicle depth:  809.834709 
#   Seafloor depth:           -863.961214
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.867447 meters
#   Minimum depth: 854.999314 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.971241 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.999314 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776066;
longitude = -118.630989;
duration = 403;
initialDepth = 800.109285;
finalDepth = 804.999314;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.3699329999999
#   Actual altitude:          54.3699329999999
#   Commanded vehicle depth:  804.999314 
#   Seafloor depth:           -859.369247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.867821 meters
#   Minimum depth: 850.109285 meters looking forward 200.000000 meters along route
#   Maximum depth: 859.055560 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.109285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775576;
longitude = -118.630071;
duration = 403;
initialDepth = 797.106878;
finalDepth = 800.109285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.749272
#   Actual altitude:          54.749272
#   Commanded vehicle depth:  800.109285 
#   Seafloor depth:           -854.858557
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.868194 meters
#   Minimum depth: 847.106878 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.734759 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 797.106878 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775087;
longitude = -118.629153;
duration = 403;
initialDepth = 792.415205;
finalDepth = 797.106878;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.749272
#   Actual altitude:          54.749272
#   Commanded vehicle depth:  797.106878 
#   Seafloor depth:           -850.095524
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.868567 meters
#   Minimum depth: 842.415205 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.201344 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.415205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774598;
longitude = -118.628235;
duration = 403;
initialDepth = 790.848857;
finalDepth = 792.415205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.676105
#   Actual altitude:          54.676105
#   Commanded vehicle depth:  792.415205 
#   Seafloor depth:           -847.091310
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.868942 meters
#   Minimum depth: 840.848857 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.060786 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 790.848857 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774108;
longitude = -118.627317;
duration = 403;
initialDepth = 785.816676;
finalDepth = 790.848857;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.676105
#   Actual altitude:          54.676105
#   Commanded vehicle depth:  790.848857 
#   Seafloor depth:           -842.409623
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.869315 meters
#   Minimum depth: 835.816676 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.132161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.816676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773619;
longitude = -118.626399;
duration = 403;
initialDepth = 782.208760;
finalDepth = 785.816676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.672137
#   Actual altitude:          54.672137
#   Commanded vehicle depth:  785.816676 
#   Seafloor depth:           -840.488813
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.869688 meters
#   Minimum depth: 832.208760 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.070124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.208760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773129;
longitude = -118.625481;
duration = 403;
initialDepth = 779.874674;
finalDepth = 782.208760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.672137
#   Actual altitude:          54.672137
#   Commanded vehicle depth:  782.20876 
#   Seafloor depth:           -835.613928
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.870062 meters
#   Minimum depth: 829.874674 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.515616 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.874674 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772640;
longitude = -118.624563;
duration = 403;
initialDepth = 778.098944;
finalDepth = 779.874674;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.405168
#   Actual altitude:          53.405168
#   Commanded vehicle depth:  779.874674 
#   Seafloor depth:           -831.977604
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.870436 meters
#   Minimum depth: 828.098944 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.814169 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.098944 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772151;
longitude = -118.623645;
duration = 403;
initialDepth = 776.746005;
finalDepth = 778.098944;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.10293
#   Actual altitude:          52.10293
#   Commanded vehicle depth:  778.098944 
#   Seafloor depth:           -829.566522
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.870810 meters
#   Minimum depth: 826.746005 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.289080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 776.746005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771661;
longitude = -118.622727;
duration = 403;
initialDepth = 776.746005;
finalDepth = 776.746005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.467578
#   Actual altitude:          51.467578
#   Commanded vehicle depth:  776.746005 
#   Seafloor depth:           -828.145595
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.871183 meters
#   Minimum depth: 826.746005 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.148366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 776.746005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771172;
longitude = -118.621809;
duration = 403;
initialDepth = 777.325852;
finalDepth = 776.746005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.39959
#   Actual altitude:          51.39959
#   Commanded vehicle depth:  776.746005 
#   Seafloor depth:           -827.767329
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.871557 meters
#   Minimum depth: 827.325852 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.625674 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.325852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770683;
longitude = -118.620891;
duration = 403;
initialDepth = 777.325852;
finalDepth = 777.325852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.021324
#   Actual altitude:          51.021324
#   Commanded vehicle depth:  777.325852 
#   Seafloor depth:           -828.093500
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.871931 meters
#   Minimum depth: 827.325852 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.625674 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.325852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770193;
longitude = -118.619973;
duration = 403;
initialDepth = 778.613208;
finalDepth = 777.325852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.682335
#   Actual altitude:          52.682335
#   Commanded vehicle depth:  777.325852 
#   Seafloor depth:           -830.008187
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 88
#   Segment length 100.352933 meters
#   Minimum depth: 828.613208 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.881191 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.613208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.769704;
longitude = -118.619055;
duration = 401;
initialDepth = 779.166911;
finalDepth = 778.613208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.682335
#   Actual altitude:          52.682335
#   Commanded vehicle depth:  778.613208 
#   Seafloor depth:           -829.393682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.61;
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 87
#   Segment length 156.139079 meters
#   Minimum depth: 829.166911 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.452439 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.166911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.769217;
longitude = -118.618142;
duration = 624;
# abortOnTimeout    = True; 
initialDepth = 779.166911;
finalDepth = 779.166911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.780474
#   Actual altitude:          50.780474
#   Commanded vehicle depth:  779.166911 
#   Seafloor depth:           -829.264648
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.47;
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 86
#   Segment length 105.743676 meters
#   Minimum depth: 829.166911 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.156925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.166911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770298;
longitude = -118.617062;
duration = 422;
# abortOnTimeout    = True; 
initialDepth = 779.802157;
finalDepth = 779.166911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.0977369999999
#   Actual altitude:          50.0977369999999
#   Commanded vehicle depth:  779.166911 
#   Seafloor depth:           -829.237305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.356979 meters
#   Minimum depth: 829.802157 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.162144 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.802157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.770804;
longitude = -118.618029;
duration = 401;
initialDepth = 781.200856;
finalDepth = 779.802157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.822304
#   Actual altitude:          51.822304
#   Commanded vehicle depth:  779.802157 
#   Seafloor depth:           -831.624461
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.356610 meters
#   Minimum depth: 831.200856 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.162144 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.200856 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771285;
longitude = -118.618947;
duration = 401;
initialDepth = 781.626049;
finalDepth = 781.200856;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.822304
#   Actual altitude:          51.822304
#   Commanded vehicle depth:  781.200856 
#   Seafloor depth:           -831.956501
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.356242 meters
#   Minimum depth: 831.626049 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.580246 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.626049 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.771766;
longitude = -118.619865;
duration = 401;
initialDepth = 782.326925;
finalDepth = 781.626049;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.755645
#   Actual altitude:          50.755645
#   Commanded vehicle depth:  781.626049 
#   Seafloor depth:           -832.020268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.355872 meters
#   Minimum depth: 832.326925 meters looking forward 200.000000 meters along route
#   Maximum depth: 837.597299 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.326925 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772247;
longitude = -118.620783;
duration = 401;
initialDepth = 784.193108;
finalDepth = 782.326925;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6469910000001
#   Actual altitude:          51.6469910000001
#   Commanded vehicle depth:  782.326925 
#   Seafloor depth:           -833.973916
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.355504 meters
#   Minimum depth: 834.193108 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.311374 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.193108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.772727;
longitude = -118.621701;
duration = 401;
initialDepth = 787.628495;
finalDepth = 784.193108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1782499999999
#   Actual altitude:          53.1782499999999
#   Commanded vehicle depth:  784.193108 
#   Seafloor depth:           -837.371358
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.355135 meters
#   Minimum depth: 837.628495 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.817342 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 787.628495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773208;
longitude = -118.622619;
duration = 401;
initialDepth = 792.416286;
finalDepth = 787.628495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.697996
#   Actual altitude:          54.697996
#   Commanded vehicle depth:  787.628495 
#   Seafloor depth:           -842.326491
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.354766 meters
#   Minimum depth: 842.416286 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.183501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.416286 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.773689;
longitude = -118.623537;
duration = 401;
initialDepth = 794.561905;
finalDepth = 792.416286;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.697996
#   Actual altitude:          54.697996
#   Commanded vehicle depth:  792.416286 
#   Seafloor depth:           -844.437281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.354397 meters
#   Minimum depth: 844.561905 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.661129 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.561905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774169;
longitude = -118.624455;
duration = 401;
initialDepth = 796.534408;
finalDepth = 794.561905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.020995
#   Actual altitude:          52.020995
#   Commanded vehicle depth:  794.561905 
#   Seafloor depth:           -846.294077
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.354029 meters
#   Minimum depth: 846.534408 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.117076 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.534408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.774650;
longitude = -118.625373;
duration = 401;
initialDepth = 798.800068;
finalDepth = 796.534408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.127977
#   Actual altitude:          52.127977
#   Commanded vehicle depth:  796.534408 
#   Seafloor depth:           -848.662385
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.353660 meters
#   Minimum depth: 848.800068 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.369856 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.800068 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775131;
longitude = -118.626291;
duration = 401;
initialDepth = 801.018340;
finalDepth = 798.800068;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5324899999999
#   Actual altitude:          52.5324899999999
#   Commanded vehicle depth:  798.800068 
#   Seafloor depth:           -851.332558
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.394849 meters
#   Minimum depth: 851.018340 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.255518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.018340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.775611;
longitude = -118.627209;
duration = 401;
initialDepth = 802.609366;
finalDepth = 801.018340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.5324899999999
#   Actual altitude:          52.5324899999999
#   Commanded vehicle depth:  801.01834 
#   Seafloor depth:           -852.299917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.311364 meters
#   Minimum depth: 852.609366 meters looking forward 200.000000 meters along route
#   Maximum depth: 859.034909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.609366 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776092;
longitude = -118.628128;
duration = 401;
initialDepth = 806.489886;
finalDepth = 802.609366;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6478959999999
#   Actual altitude:          53.6478959999999
#   Commanded vehicle depth:  802.609366 
#   Seafloor depth:           -856.257262
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.352554 meters
#   Minimum depth: 856.489886 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.164762 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 806.489886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.776573;
longitude = -118.629045;
duration = 401;
initialDepth = 809.537422;
finalDepth = 806.489886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6478959999999
#   Actual altitude:          53.6478959999999
#   Commanded vehicle depth:  806.489886 
#   Seafloor depth:           -859.358204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.491835 meters
#   Minimum depth: 859.537422 meters looking forward 200.000000 meters along route
#   Maximum depth: 866.420563 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 809.537422 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777054;
longitude = -118.629963;
duration = 401;
initialDepth = 813.837142;
finalDepth = 809.537422;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.858552
#   Actual altitude:          53.858552
#   Commanded vehicle depth:  809.537422 
#   Seafloor depth:           -863.395974
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.212167 meters
#   Minimum depth: 863.837142 meters looking forward 200.000000 meters along route
#   Maximum depth: 866.929981 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.837142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.777535;
longitude = -118.630883;
duration = 400;
initialDepth = 816.382525;
finalDepth = 813.837142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.858552
#   Actual altitude:          53.858552
#   Commanded vehicle depth:  813.837142 
#   Seafloor depth:           -866.351180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.351447 meters
#   Minimum depth: 866.382525 meters looking forward 200.000000 meters along route
#   Maximum depth: 869.353517 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 816.382525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778015;
longitude = -118.631799;
duration = 401;
initialDepth = 817.315580;
finalDepth = 816.382525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.514038
#   Actual altitude:          52.514038
#   Commanded vehicle depth:  816.382525 
#   Seafloor depth:           -867.192179
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.588817 meters
#   Minimum depth: 867.315580 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.476283 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 817.315580 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778496;
longitude = -118.632717;
duration = 402;
initialDepth = 819.047958;
finalDepth = 817.315580;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9137310000001
#   Actual altitude:          51.9137310000001
#   Commanded vehicle depth:  817.31558 
#   Seafloor depth:           -869.229311
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.112973 meters
#   Minimum depth: 869.047958 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.222331 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 819.047958 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.778977;
longitude = -118.633637;
duration = 400;
initialDepth = 820.076878;
finalDepth = 819.047958;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9137310000001
#   Actual altitude:          51.9137310000001
#   Commanded vehicle depth:  819.047958 
#   Seafloor depth:           -869.919818
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.350342 meters
#   Minimum depth: 870.076878 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.795687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.076878 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779457;
longitude = -118.634553;
duration = 401;
initialDepth = 820.901095;
finalDepth = 820.076878;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.372105
#   Actual altitude:          51.372105
#   Commanded vehicle depth:  820.076878 
#   Seafloor depth:           -871.448983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.685797 meters
#   Minimum depth: 870.901095 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.795687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.901095 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779938;
longitude = -118.635471;
duration = 402;
initialDepth = 820.945016;
finalDepth = 820.901095;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.372105
#   Actual altitude:          51.372105
#   Commanded vehicle depth:  820.901095 
#   Seafloor depth:           -870.909235
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.013780 meters
#   Minimum depth: 870.945016 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.242755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.945016 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780420;
longitude = -118.636392;
duration = 400;
initialDepth = 821.836902;
finalDepth = 820.945016;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.767302
#   Actual altitude:          50.767302
#   Commanded vehicle depth:  820.945016 
#   Seafloor depth:           -871.712318
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.349236 meters
#   Minimum depth: 871.836902 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.512482 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.836902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780899;
longitude = -118.637307;
duration = 401;
initialDepth = 822.213630;
finalDepth = 821.836902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.767302
#   Actual altitude:          50.767302
#   Commanded vehicle depth:  821.836902 
#   Seafloor depth:           -872.192246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.348868 meters
#   Minimum depth: 872.213630 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.855492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.213630 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781380;
longitude = -118.638225;
duration = 401;
initialDepth = 822.770702;
finalDepth = 822.213630;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0345080000001
#   Actual altitude:          51.0345080000001
#   Commanded vehicle depth:  822.21363 
#   Seafloor depth:           -873.248138
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.348499 meters
#   Minimum depth: 872.770702 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.726865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.770702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781861;
longitude = -118.639143;
duration = 401;
initialDepth = 823.685984;
finalDepth = 822.770702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0345080000001
#   Actual altitude:          51.0345080000001
#   Commanded vehicle depth:  822.770702 
#   Seafloor depth:           -873.694378
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.348130 meters
#   Minimum depth: 873.685984 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.778785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.685984 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782341;
longitude = -118.640061;
duration = 401;
initialDepth = 823.917504;
finalDepth = 823.685984;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.923676
#   Actual altitude:          50.923676
#   Commanded vehicle depth:  823.685984 
#   Seafloor depth:           -873.789644
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.347762 meters
#   Minimum depth: 873.917504 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.855501 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.917504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782822;
longitude = -118.640979;
duration = 401;
initialDepth = 824.521882;
finalDepth = 823.917504;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0893619999999
#   Actual altitude:          51.0893619999999
#   Commanded vehicle depth:  823.917504 
#   Seafloor depth:           -875.006866
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.347393 meters
#   Minimum depth: 874.521882 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.936990 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.521882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.783303;
longitude = -118.641897;
duration = 401;
initialDepth = 824.521882;
finalDepth = 824.521882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.415108
#   Actual altitude:          51.415108
#   Commanded vehicle depth:  824.521882 
#   Seafloor depth:           -875.936990
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.347024 meters
#   Minimum depth: 874.521882 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.850695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.521882 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.783783;
longitude = -118.642815;
duration = 401;
initialDepth = 824.095106;
finalDepth = 824.521882;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.415108
#   Actual altitude:          51.415108
#   Commanded vehicle depth:  824.521882 
#   Seafloor depth:           -874.621146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 100.976728 meters
#   Minimum depth: 874.095106 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.115203 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.095106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784264;
longitude = -118.643733;
duration = 403;
initialDepth = 824.068071;
finalDepth = 824.095106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.020097
#   Actual altitude:          51.020097
#   Commanded vehicle depth:  824.095106 
#   Seafloor depth:           -875.115203
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 86
#   Segment length 103.175662 meters
#   Minimum depth: 874.068071 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.098027 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 824.068071 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784748;
longitude = -118.644657;
duration = 412;
initialDepth = 821.842961;
finalDepth = 824.068071;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.020097
#   Actual altitude:          51.020097
#   Commanded vehicle depth:  824.068071 
#   Seafloor depth:           -874.121280
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
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 85
#   Segment length 141.421359 meters
#   Minimum depth: 871.842961 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.841311 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.842961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785242;
longitude = -118.645601;
duration = 565;
# abortOnTimeout    = True; 
initialDepth = 822.360546;
finalDepth = 821.842961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.9133870000001
#   Actual altitude:          52.9133870000001
#   Commanded vehicle depth:  821.842961 
#   Seafloor depth:           -874.756348
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.75;
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 84
#   Segment length 144.101526 meters
#   Minimum depth: 872.360546 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.583589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.360546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786323;
longitude = -118.644791;
duration = 576;
# abortOnTimeout    = True; 
initialDepth = 821.605060;
finalDepth = 822.360546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9133870000001
#   Actual altitude:          52.9133870000001
#   Commanded vehicle depth:  822.360546 
#   Seafloor depth:           -872.405762
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.500145 meters
#   Minimum depth: 871.605060 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.895542 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.605060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785645;
longitude = -118.643463;
duration = 422;
initialDepth = 821.605060;
finalDepth = 821.605060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0096570000001
#   Actual altitude:          52.0096570000001
#   Commanded vehicle depth:  821.60506 
#   Seafloor depth:           -873.614717
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.500551 meters
#   Minimum depth: 871.605060 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.476340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.605060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785149;
longitude = -118.642491;
duration = 422;
initialDepth = 823.329761;
finalDepth = 821.605060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.0096570000001
#   Actual altitude:          52.0096570000001
#   Commanded vehicle depth:  821.60506 
#   Seafloor depth:           -873.005910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.500956 meters
#   Minimum depth: 873.329761 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.825383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.329761 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784653;
longitude = -118.641519;
duration = 422;
initialDepth = 823.559756;
finalDepth = 823.329761;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.40085
#   Actual altitude:          51.40085
#   Commanded vehicle depth:  823.329761 
#   Seafloor depth:           -874.390388
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.501361 meters
#   Minimum depth: 873.559756 meters looking forward 200.000000 meters along route
#   Maximum depth: 875.825383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.559756 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784157;
longitude = -118.640547;
duration = 422;
initialDepth = 823.033311;
finalDepth = 823.559756;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0606270000001
#   Actual altitude:          51.0606270000001
#   Commanded vehicle depth:  823.559756 
#   Seafloor depth:           -873.725601
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.501767 meters
#   Minimum depth: 873.033311 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.904980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 823.033311 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.783661;
longitude = -118.639575;
duration = 422;
initialDepth = 822.605768;
finalDepth = 823.033311;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.537437
#   Actual altitude:          50.537437
#   Commanded vehicle depth:  823.033311 
#   Seafloor depth:           -873.570748
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.502172 meters
#   Minimum depth: 872.605768 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.808222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.605768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.783165;
longitude = -118.638603;
duration = 422;
initialDepth = 822.404500;
finalDepth = 822.605768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.512327
#   Actual altitude:          51.512327
#   Commanded vehicle depth:  822.605768 
#   Seafloor depth:           -874.118095
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.502578 meters
#   Minimum depth: 872.404500 meters looking forward 200.000000 meters along route
#   Maximum depth: 874.808222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.404500 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782668;
longitude = -118.637631;
duration = 422;
initialDepth = 822.404500;
finalDepth = 822.404500;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.512327
#   Actual altitude:          51.512327
#   Commanded vehicle depth:  822.4045 
#   Seafloor depth:           -872.940028
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 105.502983 meters
#   Minimum depth: 872.404500 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.156819 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 822.404500 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782172;
longitude = -118.636659;
duration = 422;
initialDepth = 820.954412;
finalDepth = 822.404500;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.535528
#   Actual altitude:          50.535528
#   Commanded vehicle depth:  822.4045 
#   Seafloor depth:           -872.640999
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 104.117489 meters
#   Minimum depth: 870.954412 meters looking forward 200.000000 meters along route
#   Maximum depth: 873.156819 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.954412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781676;
longitude = -118.635687;
duration = 416;
initialDepth = 820.954412;
finalDepth = 820.954412;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.718359
#   Actual altitude:          51.718359
#   Commanded vehicle depth:  820.954412 
#   Seafloor depth:           -872.672771
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 101.028361 meters
#   Minimum depth: 870.954412 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.223158 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.954412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781186;
longitude = -118.634728;
duration = 404;
initialDepth = 820.923828;
finalDepth = 820.954412;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.718359
#   Actual altitude:          51.718359
#   Commanded vehicle depth:  820.954412 
#   Seafloor depth:           -871.438789
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 100.276875 meters
#   Minimum depth: 870.923828 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.588073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.923828 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780711;
longitude = -118.633797;
duration = 401;
initialDepth = 819.259601;
finalDepth = 820.923828;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.419041
#   Actual altitude:          51.419041
#   Commanded vehicle depth:  820.923828 
#   Seafloor depth:           -872.342869
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 84
#   Segment length 103.927558 meters
#   Minimum depth: 869.259601 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.588073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 819.259601 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780240;
longitude = -118.632873;
duration = 415;
initialDepth = 818.083729;
finalDepth = 819.259601;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.142969
#   Actual altitude:          52.142969
#   Commanded vehicle depth:  819.259601 
#   Seafloor depth:           -871.402570
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.29;
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 83
#   Segment length 154.222666 meters
#   Minimum depth: 868.083729 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.163135 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 818.083729 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.779751;
longitude = -118.631916;
duration = 616;
# abortOnTimeout    = True; 
initialDepth = 818.295236;
finalDepth = 818.083729;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.142969
#   Actual altitude:          52.142969
#   Commanded vehicle depth:  818.083729 
#   Seafloor depth:           -869.758789
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.29;
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 82
#   Segment length 172.919311 meters
#   Minimum depth: 868.295236 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.790867 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 818.295236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.780921;
longitude = -118.631016;
duration = 691;
# abortOnTimeout    = True; 
initialDepth = 819.326195;
finalDepth = 818.295236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.67506
#   Actual altitude:          51.67506
#   Commanded vehicle depth:  818.295236 
#   Seafloor depth:           -868.550293
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.489013 meters
#   Minimum depth: 869.326195 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.773797 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 819.326195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.781734;
longitude = -118.632609;
duration = 421;
initialDepth = 819.400012;
finalDepth = 819.326195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.730014
#   Actual altitude:          50.730014
#   Commanded vehicle depth:  819.326195 
#   Seafloor depth:           -870.056209
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.488608 meters
#   Minimum depth: 869.400012 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.773797 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 819.400012 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782230;
longitude = -118.633581;
duration = 421;
initialDepth = 820.475531;
finalDepth = 819.400012;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.935148
#   Actual altitude:          50.935148
#   Commanded vehicle depth:  819.400012 
#   Seafloor depth:           -870.335160
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.488202 meters
#   Minimum depth: 870.475531 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.265555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.475531 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.782726;
longitude = -118.634553;
duration = 421;
initialDepth = 820.705495;
finalDepth = 820.475531;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.935148
#   Actual altitude:          50.935148
#   Commanded vehicle depth:  820.475531 
#   Seafloor depth:           -870.707361
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.487797 meters
#   Minimum depth: 870.705495 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.078896 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.705495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.783222;
longitude = -118.635525;
duration = 421;
initialDepth = 820.705495;
finalDepth = 820.705495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.427427
#   Actual altitude:          50.427427
#   Commanded vehicle depth:  820.705495 
#   Seafloor depth:           -871.132922
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.487391 meters
#   Minimum depth: 870.705495 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.303053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.705495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.783718;
longitude = -118.636497;
duration = 421;
initialDepth = 821.619065;
finalDepth = 820.705495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4224039999999
#   Actual altitude:          51.4224039999999
#   Commanded vehicle depth:  820.705495 
#   Seafloor depth:           -872.127899
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.486987 meters
#   Minimum depth: 871.619065 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.424369 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.619065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784213;
longitude = -118.637469;
duration = 421;
initialDepth = 821.785439;
finalDepth = 821.619065;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4224039999999
#   Actual altitude:          51.4224039999999
#   Commanded vehicle depth:  821.619065 
#   Seafloor depth:           -871.852529
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.486581 meters
#   Minimum depth: 871.785439 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.747210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.785439 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784709;
longitude = -118.638441;
duration = 421;
initialDepth = 821.312526;
finalDepth = 821.785439;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.548979
#   Actual altitude:          50.548979
#   Commanded vehicle depth:  821.785439 
#   Seafloor depth:           -872.334418
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.486175 meters
#   Minimum depth: 871.312526 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.747210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.312526 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785205;
longitude = -118.639413;
duration = 421;
initialDepth = 820.987648;
finalDepth = 821.312526;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4005999999999
#   Actual altitude:          51.4005999999999
#   Commanded vehicle depth:  821.312526 
#   Seafloor depth:           -872.713126
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.485771 meters
#   Minimum depth: 870.987648 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.473271 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.987648 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785701;
longitude = -118.640385;
duration = 421;
initialDepth = 820.760629;
finalDepth = 820.987648;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4005999999999
#   Actual altitude:          51.4005999999999
#   Commanded vehicle depth:  820.987648 
#   Seafloor depth:           -872.121479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.485365 meters
#   Minimum depth: 870.760629 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.998166 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.760629 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786197;
longitude = -118.641357;
duration = 421;
initialDepth = 820.768911;
finalDepth = 820.760629;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.133831
#   Actual altitude:          51.133831
#   Commanded vehicle depth:  820.760629 
#   Seafloor depth:           -870.927696
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 105.484960 meters
#   Minimum depth: 870.768911 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.357246 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.768911 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786693;
longitude = -118.642329;
duration = 421;
initialDepth = 820.059725;
finalDepth = 820.768911;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.241777
#   Actual altitude:          50.241777
#   Commanded vehicle depth:  820.768911 
#   Seafloor depth:           -871.010688
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 82
#   Segment length 102.950764 meters
#   Minimum depth: 870.059725 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.357246 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.059725 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787189;
longitude = -118.643301;
duration = 411;
initialDepth = 813.167364;
finalDepth = 820.059725;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.8819890000001
#   Actual altitude:          50.8819890000001
#   Commanded vehicle depth:  820.059725 
#   Seafloor depth:           -870.941714
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
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 81
#   Segment length 141.420207 meters
#   Minimum depth: 863.167364 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.456769 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.167364 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787673;
longitude = -118.644250;
duration = 565;
# abortOnTimeout    = True; 
initialDepth = 812.240256;
finalDepth = 813.167364;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.2847839999999
#   Actual altitude:          57.2847839999999
#   Commanded vehicle depth:  813.167364 
#   Seafloor depth:           -870.452148
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 80
#   Segment length 132.604832 meters
#   Minimum depth: 862.240256 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.147647 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.240256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788754;
longitude = -118.643440;
duration = 530;
# abortOnTimeout    = True; 
initialDepth = 812.240256;
finalDepth = 812.240256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2847839999999
#   Actual altitude:          57.2847839999999
#   Commanded vehicle depth:  812.240256 
#   Seafloor depth:           -862.916992
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 105.766216 meters
#   Minimum depth: 862.240256 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.488560 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.240256 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788126;
longitude = -118.642221;
duration = 423;
initialDepth = 813.241171;
finalDepth = 812.240256;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.325518
#   Actual altitude:          51.325518
#   Commanded vehicle depth:  812.240256 
#   Seafloor depth:           -863.565774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 105.766623 meters
#   Minimum depth: 863.241171 meters looking forward 200.000000 meters along route
#   Maximum depth: 866.057024 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.241171 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787625;
longitude = -118.641249;
duration = 423;
initialDepth = 814.489695;
finalDepth = 813.241171;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.325518
#   Actual altitude:          51.325518
#   Commanded vehicle depth:  813.241171 
#   Seafloor depth:           -864.334608
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 105.767032 meters
#   Minimum depth: 864.489695 meters looking forward 200.000000 meters along route
#   Maximum depth: 866.057024 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.489695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787125;
longitude = -118.640277;
duration = 423;
initialDepth = 814.489695;
finalDepth = 814.489695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.093437
#   Actual altitude:          51.093437
#   Commanded vehicle depth:  814.489695 
#   Seafloor depth:           -864.789221
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 105.767440 meters
#   Minimum depth: 864.489695 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.267044 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.489695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786624;
longitude = -118.639305;
duration = 423;
initialDepth = 814.966815;
finalDepth = 814.489695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.470769
#   Actual altitude:          50.470769
#   Commanded vehicle depth:  814.489695 
#   Seafloor depth:           -864.960464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 100.044712 meters
#   Minimum depth: 864.966815 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.327214 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.966815 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786123;
longitude = -118.638333;
duration = 400;
initialDepth = 821.008929;
finalDepth = 814.966815;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.345115
#   Actual altitude:          56.345115
#   Commanded vehicle depth:  814.966815 
#   Seafloor depth:           -871.311930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 105.615368 meters
#   Minimum depth: 871.008929 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.740135 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.008929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785649;
longitude = -118.637414;
duration = 422;
initialDepth = 821.127167;
finalDepth = 821.008929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.345115
#   Actual altitude:          56.345115
#   Commanded vehicle depth:  821.008929 
#   Seafloor depth:           -871.306364
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 105.768642 meters
#   Minimum depth: 871.127167 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.008795 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 821.127167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785149;
longitude = -118.636443;
duration = 423;
initialDepth = 820.892140;
finalDepth = 821.127167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.627066
#   Actual altitude:          50.627066
#   Commanded vehicle depth:  821.127167 
#   Seafloor depth:           -871.754233
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 80
#   Segment length 102.757043 meters
#   Minimum depth: 870.892140 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.008795 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.892140 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784649;
longitude = -118.635471;
duration = 411;
initialDepth = 820.666613;
finalDepth = 820.892140;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.877022
#   Actual altitude:          50.877022
#   Commanded vehicle depth:  820.89214 
#   Seafloor depth:           -871.769162
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
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 79
#   Segment length 160.219837 meters
#   Minimum depth: 870.666613 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.474893 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.666613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.784162;
longitude = -118.634527;
duration = 640;
# abortOnTimeout    = True; 
initialDepth = 820.917447;
finalDepth = 820.666613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.877022
#   Actual altitude:          50.877022
#   Commanded vehicle depth:  820.666613 
#   Seafloor depth:           -871.058105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
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 78
#   Segment length 164.062015 meters
#   Minimum depth: 870.917447 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.013620 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.917447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785152;
longitude = -118.633267;
duration = 656;
# abortOnTimeout    = True; 
initialDepth = 820.499628;
finalDepth = 820.917447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6035489999999
#   Actual altitude:          50.6035489999999
#   Commanded vehicle depth:  820.917447 
#   Seafloor depth:           -871.520996
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.370425 meters
#   Minimum depth: 870.499628 meters looking forward 200.000000 meters along route
#   Maximum depth: 872.013620 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.499628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.785936;
longitude = -118.634769;
duration = 401;
initialDepth = 820.061546;
finalDepth = 820.499628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.722326
#   Actual altitude:          50.722326
#   Commanded vehicle depth:  820.499628 
#   Seafloor depth:           -871.221954
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.130487 meters
#   Minimum depth: 870.061546 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.786118 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 820.061546 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786416;
longitude = -118.635688;
duration = 400;
initialDepth = 814.028715;
finalDepth = 820.061546;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.722326
#   Actual altitude:          50.722326
#   Commanded vehicle depth:  820.061546 
#   Seafloor depth:           -870.498572
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.249905 meters
#   Minimum depth: 864.028715 meters looking forward 200.000000 meters along route
#   Maximum depth: 871.148443 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.028715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.786894;
longitude = -118.636605;
duration = 400;
initialDepth = 814.028715;
finalDepth = 814.028715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.619553
#   Actual altitude:          56.619553
#   Commanded vehicle depth:  814.028715 
#   Seafloor depth:           -870.648268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.249536 meters
#   Minimum depth: 864.028715 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.501925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.028715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787373;
longitude = -118.637523;
duration = 400;
initialDepth = 814.077804;
finalDepth = 814.028715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.619553
#   Actual altitude:          56.619553
#   Commanded vehicle depth:  814.028715 
#   Seafloor depth:           -864.042542
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.249169 meters
#   Minimum depth: 864.077804 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.584291 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.077804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787852;
longitude = -118.638441;
duration = 400;
initialDepth = 813.552431;
finalDepth = 814.077804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.67763
#   Actual altitude:          50.67763
#   Commanded vehicle depth:  814.077804 
#   Seafloor depth:           -864.755434
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.248802 meters
#   Minimum depth: 863.552431 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.751886 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.552431 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788332;
longitude = -118.639359;
duration = 400;
initialDepth = 813.135653;
finalDepth = 813.552431;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.67763
#   Actual altitude:          50.67763
#   Commanded vehicle depth:  813.552431 
#   Seafloor depth:           -864.152380
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.248433 meters
#   Minimum depth: 863.135653 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.100663 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.135653 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788811;
longitude = -118.640277;
duration = 400;
initialDepth = 812.578783;
finalDepth = 813.135653;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.599949
#   Actual altitude:          50.599949
#   Commanded vehicle depth:  813.135653 
#   Seafloor depth:           -863.545676
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.248066 meters
#   Minimum depth: 862.578783 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.511988 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.578783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.789290;
longitude = -118.641195;
duration = 400;
initialDepth = 812.064636;
finalDepth = 812.578783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.501938
#   Actual altitude:          50.501938
#   Commanded vehicle depth:  812.578783 
#   Seafloor depth:           -863.080721
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.247699 meters
#   Minimum depth: 862.064636 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.066670 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.064636 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.789769;
longitude = -118.642113;
duration = 400;
initialDepth = 811.686106;
finalDepth = 812.064636;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5144660000001
#   Actual altitude:          50.5144660000001
#   Commanded vehicle depth:  812.064636 
#   Seafloor depth:           -862.579102
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.247330 meters
#   Minimum depth: 861.686106 meters looking forward 200.000000 meters along route
#   Maximum depth: 862.543058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.686106 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790248;
longitude = -118.643031;
duration = 400;
initialDepth = 811.250292;
finalDepth = 811.686106;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5144660000001
#   Actual altitude:          50.5144660000001
#   Commanded vehicle depth:  811.686106 
#   Seafloor depth:           -862.097111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.246963 meters
#   Minimum depth: 861.250292 meters looking forward 200.000000 meters along route
#   Maximum depth: 862.149576 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.250292 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790727;
longitude = -118.643949;
duration = 400;
initialDepth = 810.706184;
finalDepth = 811.250292;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.411005
#   Actual altitude:          50.411005
#   Commanded vehicle depth:  811.250292 
#   Seafloor depth:           -861.623222
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.246595 meters
#   Minimum depth: 860.706184 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.609409 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 810.706184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791206;
longitude = -118.644867;
duration = 400;
initialDepth = 809.662163;
finalDepth = 810.706184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.644369
#   Actual altitude:          50.644369
#   Commanded vehicle depth:  810.706184 
#   Seafloor depth:           -861.350553
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.246228 meters
#   Minimum depth: 859.662163 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.335917 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 809.662163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791685;
longitude = -118.645785;
duration = 400;
initialDepth = 808.331163;
finalDepth = 809.662163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.949153
#   Actual altitude:          50.949153
#   Commanded vehicle depth:  809.662163 
#   Seafloor depth:           -860.611316
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.245860 meters
#   Minimum depth: 858.331163 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.599328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 808.331163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792164;
longitude = -118.646703;
duration = 400;
initialDepth = 807.083199;
finalDepth = 808.331163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.290571
#   Actual altitude:          51.290571
#   Commanded vehicle depth:  808.331163 
#   Seafloor depth:           -859.621734
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.245493 meters
#   Minimum depth: 857.083199 meters looking forward 200.000000 meters along route
#   Maximum depth: 859.556518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 807.083199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792643;
longitude = -118.647621;
duration = 400;
initialDepth = 805.939378;
finalDepth = 807.083199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.290571
#   Actual altitude:          51.290571
#   Commanded vehicle depth:  807.083199 
#   Seafloor depth:           -858.315749
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 100.245125 meters
#   Minimum depth: 855.939378 meters looking forward 200.000000 meters along route
#   Maximum depth: 858.266263 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 805.939378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793122;
longitude = -118.648539;
duration = 400;
initialDepth = 804.706200;
finalDepth = 805.939378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2325499999999
#   Actual altitude:          51.2325499999999
#   Commanded vehicle depth:  805.939378 
#   Seafloor depth:           -857.002783
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 78
#   Segment length 105.337182 meters
#   Minimum depth: 854.706200 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.933404 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.706200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793602;
longitude = -118.649457;
duration = 421;
initialDepth = 802.360433;
finalDepth = 804.706200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.1706260000001
#   Actual altitude:          51.1706260000001
#   Commanded vehicle depth:  804.7062 
#   Seafloor depth:           -855.876826
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.70;
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 77
#   Segment length 81.937721 meters
#   Minimum depth: 852.360433 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.049656 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.360433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794105;
longitude = -118.650422;
duration = 327;
# abortOnTimeout    = True; 
initialDepth = 798.438143;
finalDepth = 802.360433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.3104500000001
#   Actual altitude:          52.3104500000001
#   Commanded vehicle depth:  802.360433 
#   Seafloor depth:           -854.670883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 103.714408 meters
#   Minimum depth: 848.438143 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.766387 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.438143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794710;
longitude = -118.649915;
duration = 414;
initialDepth = 793.660679;
finalDepth = 798.438143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.753103
#   Actual altitude:          53.753103
#   Commanded vehicle depth:  798.438143 
#   Seafloor depth:           -852.191246
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 101.088251 meters
#   Minimum depth: 843.660679 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.989397 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.660679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795477;
longitude = -118.649273;
duration = 404;
initialDepth = 789.918166;
finalDepth = 793.660679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.6220930000001
#   Actual altitude:          54.6220930000001
#   Commanded vehicle depth:  793.660679 
#   Seafloor depth:           -848.282772
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 100.238808 meters
#   Minimum depth: 839.918166 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.095402 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.918166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796224;
longitude = -118.648647;
duration = 400;
initialDepth = 784.201433;
finalDepth = 789.918166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.6220930000001
#   Actual altitude:          54.6220930000001
#   Commanded vehicle depth:  789.918166 
#   Seafloor depth:           -843.486709
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 103.713471 meters
#   Minimum depth: 834.201433 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.151683 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.201433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796964;
longitude = -118.648027;
duration = 414;
initialDepth = 769.011271;
finalDepth = 784.201433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.5027260000001
#   Actual altitude:          55.5027260000001
#   Commanded vehicle depth:  784.201433 
#   Seafloor depth:           -839.704159
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 103.713152 meters
#   Minimum depth: 819.011271 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.106739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 769.011271 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797731;
longitude = -118.647385;
duration = 414;
initialDepth = 758.953680;
finalDepth = 769.011271;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.9981640000001
#   Actual altitude:          64.9981640000001
#   Commanded vehicle depth:  769.011271 
#   Seafloor depth:           -834.009435
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 103.712834 meters
#   Minimum depth: 808.953680 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.210775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 758.953680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798497;
longitude = -118.646743;
duration = 414;
initialDepth = 758.953680;
finalDepth = 758.953680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.9981640000001
#   Actual altitude:          64.9981640000001
#   Commanded vehicle depth:  758.95368 
#   Seafloor depth:           -818.695874
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 103.712515 meters
#   Minimum depth: 808.953680 meters looking forward 200.000000 meters along route
#   Maximum depth: 820.804865 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 758.953680 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799264;
longitude = -118.646101;
duration = 414;
initialDepth = 762.486800;
finalDepth = 758.953680;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.742194
#   Actual altitude:          59.742194
#   Commanded vehicle depth:  758.95368 
#   Seafloor depth:           -810.360496
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 104.387722 meters
#   Minimum depth: 812.486800 meters looking forward 200.000000 meters along route
#   Maximum depth: 825.087691 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 762.486800 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800030;
longitude = -118.645459;
duration = 417;
initialDepth = 771.239498;
finalDepth = 762.486800;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.330004
#   Actual altitude:          58.330004
#   Commanded vehicle depth:  762.4868 
#   Seafloor depth:           -820.816804
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 77
#   Segment length 102.816781 meters
#   Minimum depth: 821.239498 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.683541 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 771.239498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800801;
longitude = -118.644813;
duration = 411;
initialDepth = 775.372767;
finalDepth = 771.239498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.330004
#   Actual altitude:          58.330004
#   Commanded vehicle depth:  771.239498 
#   Seafloor depth:           -825.116404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 76
#   Segment length 100.719520 meters
#   Minimum depth: 825.372767 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.111667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 775.372767 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801561;
longitude = -118.644177;
duration = 402;
# abortOnTimeout    = True; 
initialDepth = 779.320162;
finalDepth = 775.372767;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.545873
#   Actual altitude:          55.545873
#   Commanded vehicle depth:  775.372767 
#   Seafloor depth:           -830.918640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 102.014015 meters
#   Minimum depth: 829.320162 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.986058 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.320162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802063;
longitude = -118.645083;
duration = 408;
initialDepth = 779.320162;
finalDepth = 779.320162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.545873
#   Actual altitude:          55.545873
#   Commanded vehicle depth:  779.320162 
#   Seafloor depth:           -829.529959
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 102.013630 meters
#   Minimum depth: 829.320162 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.951779 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.320162 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802572;
longitude = -118.646001;
duration = 408;
initialDepth = 779.386647;
finalDepth = 779.320162;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.209797
#   Actual altitude:          50.209797
#   Commanded vehicle depth:  779.320162 
#   Seafloor depth:           -829.486651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 102.416836 meters
#   Minimum depth: 829.386647 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.423232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.386647 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803081;
longitude = -118.646919;
duration = 409;
initialDepth = 779.961363;
finalDepth = 779.386647;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5357439999999
#   Actual altitude:          50.5357439999999
#   Commanded vehicle depth:  779.386647 
#   Seafloor depth:           -829.922391
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 101.609272 meters
#   Minimum depth: 829.961363 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.212305 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.961363 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803591;
longitude = -118.647841;
duration = 406;
initialDepth = 780.462534;
finalDepth = 779.961363;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.5357439999999
#   Actual altitude:          50.5357439999999
#   Commanded vehicle depth:  779.961363 
#   Seafloor depth:           -830.424647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 102.012478 meters
#   Minimum depth: 830.462534 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.403235 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 780.462534 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804098;
longitude = -118.648755;
duration = 408;
initialDepth = 781.290143;
finalDepth = 780.462534;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7756010000001
#   Actual altitude:          50.7756010000001
#   Commanded vehicle depth:  780.462534 
#   Seafloor depth:           -831.238135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 103.763366 meters
#   Minimum depth: 831.290143 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.156782 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.290143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804607;
longitude = -118.649673;
duration = 415;
initialDepth = 782.584552;
finalDepth = 781.290143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.185006
#   Actual altitude:          51.185006
#   Commanded vehicle depth:  781.290143 
#   Seafloor depth:           -832.475149
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 100.260437 meters
#   Minimum depth: 832.584552 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.491024 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.584552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805124;
longitude = -118.650607;
duration = 401;
initialDepth = 784.242486;
finalDepth = 782.584552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6037229999999
#   Actual altitude:          51.6037229999999
#   Commanded vehicle depth:  782.584552 
#   Seafloor depth:           -834.188275
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 102.011326 meters
#   Minimum depth: 834.242486 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.827513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.242486 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805624;
longitude = -118.651509;
duration = 408;
initialDepth = 785.547702;
finalDepth = 784.242486;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6037229999999
#   Actual altitude:          51.6037229999999
#   Commanded vehicle depth:  784.242486 
#   Seafloor depth:           -835.501273
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 76
#   Segment length 102.969491 meters
#   Minimum depth: 835.547702 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.694965 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.547702 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806133;
longitude = -118.652427;
duration = 411;
initialDepth = 781.950160;
finalDepth = 785.547702;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.2943610000001
#   Actual altitude:          51.2943610000001
#   Commanded vehicle depth:  785.547702 
#   Seafloor depth:           -836.842063
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 75
#   Segment length 139.728652 meters
#   Minimum depth: 831.950160 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.694965 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.950160 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806646;
longitude = -118.653354;
duration = 558;
# abortOnTimeout    = True; 
initialDepth = 775.812262;
finalDepth = 781.950160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.665715
#   Actual altitude:          56.665715
#   Commanded vehicle depth:  781.95016 
#   Seafloor depth:           -838.615875
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 100.183976 meters
#   Minimum depth: 825.812262 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.884533 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 775.812262 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805620;
longitude = -118.654230;
duration = 400;
initialDepth = 771.822056;
finalDepth = 775.812262;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.665715
#   Actual altitude:          56.665715
#   Commanded vehicle depth:  775.812262 
#   Seafloor depth:           -831.781612
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 103.410191 meters
#   Minimum depth: 821.822056 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.480076 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 771.822056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804884;
longitude = -118.654857;
duration = 413;
initialDepth = 771.822056;
finalDepth = 771.822056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.96935
#   Actual altitude:          55.96935
#   Commanded vehicle depth:  771.822056 
#   Seafloor depth:           -825.694603
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 103.410515 meters
#   Minimum depth: 821.822056 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.746585 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 771.822056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804125;
longitude = -118.655505;
duration = 413;
initialDepth = 772.063046;
finalDepth = 771.822056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.8725470000001
#   Actual altitude:          53.8725470000001
#   Commanded vehicle depth:  771.822056 
#   Seafloor depth:           -821.822828
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 104.267803 meters
#   Minimum depth: 822.063046 meters looking forward 200.000000 meters along route
#   Maximum depth: 845.128071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 772.063046 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803365;
longitude = -118.656153;
duration = 417;
initialDepth = 785.447903;
finalDepth = 772.063046;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.701197
#   Actual altitude:          60.701197
#   Commanded vehicle depth:  772.063046 
#   Seafloor depth:           -832.764243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 104.353533 meters
#   Minimum depth: 835.447903 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.933275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.447903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802599;
longitude = -118.656807;
duration = 417;
initialDepth = 795.766156;
finalDepth = 785.447903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.701197
#   Actual altitude:          60.701197
#   Commanded vehicle depth:  785.447903 
#   Seafloor depth:           -845.163579
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 104.353861 meters
#   Minimum depth: 845.766156 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.628860 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 795.766156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801833;
longitude = -118.657461;
duration = 417;
initialDepth = 799.232010;
finalDepth = 795.766156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.715676
#   Actual altitude:          59.715676
#   Commanded vehicle depth:  795.766156 
#   Seafloor depth:           -848.978414
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 75
#   Segment length 102.363398 meters
#   Minimum depth: 849.232010 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.981998 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.232010 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801067;
longitude = -118.658115;
duration = 409;
initialDepth = 802.353316;
finalDepth = 799.232010;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.4913780000001
#   Actual altitude:          53.4913780000001
#   Commanded vehicle depth:  799.23201 
#   Seafloor depth:           -852.723388
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 74
#   Segment length 85.705660 meters
#   Minimum depth: 852.353316 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.055084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.353316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800315;
longitude = -118.658756;
duration = 342;
# abortOnTimeout    = True; 
initialDepth = 804.776513;
finalDepth = 802.353316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.701768
#   Actual altitude:          53.701768
#   Commanded vehicle depth:  802.353316 
#   Seafloor depth:           -856.055084
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.108305 meters
#   Minimum depth: 854.776513 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.055084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.776513 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799895;
longitude = -118.657979;
duration = 404;
initialDepth = 803.513199;
finalDepth = 804.776513;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.701768
#   Actual altitude:          53.701768
#   Commanded vehicle depth:  804.776513 
#   Seafloor depth:           -855.545698
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.108682 meters
#   Minimum depth: 853.513199 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.556020 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 803.513199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799399;
longitude = -118.657063;
duration = 404;
initialDepth = 802.086187;
finalDepth = 803.513199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.253968
#   Actual altitude:          51.253968
#   Commanded vehicle depth:  803.513199 
#   Seafloor depth:           -854.767167
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.109058 meters
#   Minimum depth: 852.086187 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.699159 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.086187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798903;
longitude = -118.656147;
duration = 404;
initialDepth = 801.070864;
finalDepth = 802.086187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.475536
#   Actual altitude:          51.475536
#   Commanded vehicle depth:  802.086187 
#   Seafloor depth:           -853.561723
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.109434 meters
#   Minimum depth: 851.070864 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.540323 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.070864 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798407;
longitude = -118.655230;
duration = 404;
initialDepth = 800.208296;
finalDepth = 801.070864;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.475536
#   Actual altitude:          51.475536
#   Commanded vehicle depth:  801.070864 
#   Seafloor depth:           -852.081916
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.109810 meters
#   Minimum depth: 850.208296 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.020773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.208296 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797911;
longitude = -118.654314;
duration = 404;
initialDepth = 799.254238;
finalDepth = 800.208296;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0110519999999
#   Actual altitude:          51.0110519999999
#   Commanded vehicle depth:  800.208296 
#   Seafloor depth:           -851.071168
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.110186 meters
#   Minimum depth: 849.254238 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.006706 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.254238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797415;
longitude = -118.653398;
duration = 404;
initialDepth = 799.254238;
finalDepth = 799.254238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9520670000001
#   Actual altitude:          50.9520670000001
#   Commanded vehicle depth:  799.254238 
#   Seafloor depth:           -850.206305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.296232 meters
#   Minimum depth: 849.254238 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.154763 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.254238 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796919;
longitude = -118.652481;
duration = 405;
initialDepth = 799.357045;
finalDepth = 799.254238;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9520670000001
#   Actual altitude:          50.9520670000001
#   Commanded vehicle depth:  799.254238 
#   Seafloor depth:           -849.300352
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.296942 meters
#   Minimum depth: 849.357045 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.525360 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.357045 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796423;
longitude = -118.651563;
duration = 405;
initialDepth = 799.463476;
finalDepth = 799.357045;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.226499
#   Actual altitude:          50.226499
#   Commanded vehicle depth:  799.357045 
#   Seafloor depth:           -849.583544
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.297319 meters
#   Minimum depth: 849.463476 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.554210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.463476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795926;
longitude = -118.650645;
duration = 405;
initialDepth = 798.827264;
finalDepth = 799.463476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0590139999999
#   Actual altitude:          51.0590139999999
#   Commanded vehicle depth:  799.463476 
#   Seafloor depth:           -850.522490
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.297697 meters
#   Minimum depth: 848.827264 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.554210 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.827264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795429;
longitude = -118.649727;
duration = 405;
initialDepth = 798.827264;
finalDepth = 798.827264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0590139999999
#   Actual altitude:          51.0590139999999
#   Commanded vehicle depth:  798.827264 
#   Seafloor depth:           -849.457610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.298074 meters
#   Minimum depth: 848.827264 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.159735 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.827264 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794932;
longitude = -118.648809;
duration = 405;
initialDepth = 799.012320;
finalDepth = 798.827264;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.630346
#   Actual altitude:          50.630346
#   Commanded vehicle depth:  798.827264 
#   Seafloor depth:           -848.933985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.298452 meters
#   Minimum depth: 849.012320 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.534419 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.012320 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794435;
longitude = -118.647891;
duration = 405;
initialDepth = 800.296511;
finalDepth = 799.012320;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.166783
#   Actual altitude:          51.166783
#   Commanded vehicle depth:  799.01232 
#   Seafloor depth:           -850.179103
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.298829 meters
#   Minimum depth: 850.296511 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.146214 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.296511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793939;
longitude = -118.646973;
duration = 405;
initialDepth = 802.734034;
finalDepth = 800.296511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2694319999999
#   Actual altitude:          52.2694319999999
#   Commanded vehicle depth:  800.296511 
#   Seafloor depth:           -852.565943
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.299207 meters
#   Minimum depth: 852.734034 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.220162 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.734034 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793442;
longitude = -118.646055;
duration = 405;
initialDepth = 804.357964;
finalDepth = 802.734034;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2694319999999
#   Actual altitude:          52.2694319999999
#   Commanded vehicle depth:  802.734034 
#   Seafloor depth:           -854.199630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.299585 meters
#   Minimum depth: 854.357964 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.774814 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.357964 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792945;
longitude = -118.645137;
duration = 405;
initialDepth = 806.429841;
finalDepth = 804.357964;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8908819999999
#   Actual altitude:          51.8908819999999
#   Commanded vehicle depth:  804.357964 
#   Seafloor depth:           -856.248846
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.299962 meters
#   Minimum depth: 856.429841 meters looking forward 200.000000 meters along route
#   Maximum depth: 859.189449 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 806.429841 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792448;
longitude = -118.644219;
duration = 405;
initialDepth = 807.926590;
finalDepth = 806.429841;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8908819999999
#   Actual altitude:          51.8908819999999
#   Commanded vehicle depth:  806.429841 
#   Seafloor depth:           -857.818836
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.300340 meters
#   Minimum depth: 857.926590 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.050484 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 807.926590 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791951;
longitude = -118.643301;
duration = 405;
initialDepth = 809.319789;
finalDepth = 807.926590;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.388995
#   Actual altitude:          51.388995
#   Commanded vehicle depth:  807.92659 
#   Seafloor depth:           -859.218958
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.300717 meters
#   Minimum depth: 859.319789 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.533431 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 809.319789 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791455;
longitude = -118.642383;
duration = 405;
initialDepth = 810.133697;
finalDepth = 809.319789;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.292368
#   Actual altitude:          51.292368
#   Commanded vehicle depth:  809.319789 
#   Seafloor depth:           -860.067566
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.301095 meters
#   Minimum depth: 860.133697 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.014739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 810.133697 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790958;
longitude = -118.641465;
duration = 405;
initialDepth = 810.649028;
finalDepth = 810.133697;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.747777
#   Actual altitude:          50.747777
#   Commanded vehicle depth:  810.133697 
#   Seafloor depth:           -860.571792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.301473 meters
#   Minimum depth: 860.649028 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.971513 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 810.649028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790461;
longitude = -118.640547;
duration = 405;
initialDepth = 811.143284;
finalDepth = 810.649028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.438095
#   Actual altitude:          50.438095
#   Commanded vehicle depth:  810.649028 
#   Seafloor depth:           -861.047018
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.301851 meters
#   Minimum depth: 861.143284 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.090774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.143284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.789964;
longitude = -118.639629;
duration = 405;
initialDepth = 812.149809;
finalDepth = 811.143284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.897237
#   Actual altitude:          50.897237
#   Commanded vehicle depth:  811.143284 
#   Seafloor depth:           -862.040521
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.302228 meters
#   Minimum depth: 862.149809 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.223690 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.149809 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.789467;
longitude = -118.638711;
duration = 405;
initialDepth = 813.213176;
finalDepth = 812.149809;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.986295
#   Actual altitude:          50.986295
#   Commanded vehicle depth:  812.149809 
#   Seafloor depth:           -863.136104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.302606 meters
#   Minimum depth: 863.213176 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.919222 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.213176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788971;
longitude = -118.637793;
duration = 405;
initialDepth = 813.523196;
finalDepth = 813.213176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.070508
#   Actual altitude:          51.070508
#   Commanded vehicle depth:  813.213176 
#   Seafloor depth:           -864.283684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 101.302983 meters
#   Minimum depth: 863.523196 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.229897 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.523196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788474;
longitude = -118.636875;
duration = 405;
initialDepth = 813.469990;
finalDepth = 813.523196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4109080000001
#   Actual altitude:          51.4109080000001
#   Commanded vehicle depth:  813.523196 
#   Seafloor depth:           -864.934104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 74
#   Segment length 100.345689 meters
#   Minimum depth: 863.469990 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.070013 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 813.469990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787977;
longitude = -118.635957;
duration = 401;
initialDepth = 817.113520;
finalDepth = 813.469990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.4109080000001
#   Actual altitude:          51.4109080000001
#   Commanded vehicle depth:  813.46999 
#   Seafloor depth:           -863.491958
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 73
#   Segment length 151.323902 meters
#   Minimum depth: 867.113520 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.503589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 817.113520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.787485;
longitude = -118.635048;
duration = 605;
# abortOnTimeout    = True; 
initialDepth = 814.222105;
finalDepth = 817.113520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.793218
#   Actual altitude:          52.793218
#   Commanded vehicle depth:  817.11352 
#   Seafloor depth:           -869.906738
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.68;
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 72
#   Segment length 93.658938 meters
#   Minimum depth: 864.222105 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.503589 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.222105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.788551;
longitude = -118.634028;
duration = 374;
# abortOnTimeout    = True; 
initialDepth = 814.222105;
finalDepth = 814.222105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0088519999999
#   Actual altitude:          56.0088519999999
#   Commanded vehicle depth:  814.222105 
#   Seafloor depth:           -870.230957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.232422 meters
#   Minimum depth: 864.222105 meters looking forward 200.000000 meters along route
#   Maximum depth: 870.258164 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.222105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.789010;
longitude = -118.634877;
duration = 404;
initialDepth = 814.699906;
finalDepth = 814.222105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0088519999999
#   Actual altitude:          56.0088519999999
#   Commanded vehicle depth:  814.222105 
#   Seafloor depth:           -865.595498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.232045 meters
#   Minimum depth: 864.699906 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.585453 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.699906 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.789505;
longitude = -118.635795;
duration = 404;
initialDepth = 814.429266;
finalDepth = 814.699906;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.373393
#   Actual altitude:          51.373393
#   Commanded vehicle depth:  814.699906 
#   Seafloor depth:           -864.929885
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.231668 meters
#   Minimum depth: 864.429266 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.898651 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.429266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790001;
longitude = -118.636713;
duration = 404;
initialDepth = 814.251972;
finalDepth = 814.429266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.229979
#   Actual altitude:          50.229979
#   Commanded vehicle depth:  814.429266 
#   Seafloor depth:           -864.655839
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.231291 meters
#   Minimum depth: 864.251972 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.665168 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.251972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790496;
longitude = -118.637631;
duration = 404;
initialDepth = 812.433721;
finalDepth = 814.251972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.226573
#   Actual altitude:          50.226573
#   Commanded vehicle depth:  814.251972 
#   Seafloor depth:           -864.430022
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.230914 meters
#   Minimum depth: 862.433721 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.410844 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 812.433721 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.790992;
longitude = -118.638549;
duration = 404;
initialDepth = 808.671017;
finalDepth = 812.433721;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7918520000001
#   Actual altitude:          51.7918520000001
#   Commanded vehicle depth:  812.433721 
#   Seafloor depth:           -864.225573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.230536 meters
#   Minimum depth: 858.671017 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.209110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 808.671017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791488;
longitude = -118.639467;
duration = 404;
initialDepth = 806.918364;
finalDepth = 808.671017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.543144
#   Actual altitude:          53.543144
#   Commanded vehicle depth:  808.671017 
#   Seafloor depth:           -862.214161
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.230160 meters
#   Minimum depth: 856.918364 meters looking forward 200.000000 meters along route
#   Maximum depth: 862.003437 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 806.918364 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.791983;
longitude = -118.640385;
duration = 404;
initialDepth = 804.580745;
finalDepth = 806.918364;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.543144
#   Actual altitude:          53.543144
#   Commanded vehicle depth:  806.918364 
#   Seafloor depth:           -858.551427
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.229783 meters
#   Minimum depth: 854.580745 meters looking forward 200.000000 meters along route
#   Maximum depth: 858.444144 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.580745 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792479;
longitude = -118.641303;
duration = 404;
initialDepth = 802.868502;
finalDepth = 804.580745;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.266069
#   Actual altitude:          52.266069
#   Commanded vehicle depth:  804.580745 
#   Seafloor depth:           -856.846814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.229405 meters
#   Minimum depth: 852.868502 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.731694 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.868502 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792975;
longitude = -118.642221;
duration = 404;
initialDepth = 800.542726;
finalDepth = 802.868502;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.266069
#   Actual altitude:          52.266069
#   Commanded vehicle depth:  802.868502 
#   Seafloor depth:           -854.517201
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.229029 meters
#   Minimum depth: 850.542726 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.442784 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.542726 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793470;
longitude = -118.643139;
duration = 404;
initialDepth = 798.356233;
finalDepth = 800.542726;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2266549999999
#   Actual altitude:          52.2266549999999
#   Commanded vehicle depth:  800.542726 
#   Seafloor depth:           -852.769381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.228652 meters
#   Minimum depth: 848.356233 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.642871 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.356233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793966;
longitude = -118.644057;
duration = 404;
initialDepth = 796.348000;
finalDepth = 798.356233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2266549999999
#   Actual altitude:          52.2266549999999
#   Commanded vehicle depth:  798.356233 
#   Seafloor depth:           -850.474247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.228274 meters
#   Minimum depth: 846.348000 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.393014 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.348000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794462;
longitude = -118.644975;
duration = 404;
initialDepth = 794.525056;
finalDepth = 796.348000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.118014
#   Actual altitude:          52.118014
#   Commanded vehicle depth:  796.348 
#   Seafloor depth:           -848.222597
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.227898 meters
#   Minimum depth: 844.525056 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.070115 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.525056 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794957;
longitude = -118.645893;
duration = 404;
initialDepth = 793.350328;
finalDepth = 794.525056;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.874597
#   Actual altitude:          51.874597
#   Commanded vehicle depth:  794.525056 
#   Seafloor depth:           -846.250543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.227521 meters
#   Minimum depth: 843.350328 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.159787 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.350328 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795453;
longitude = -118.646811;
duration = 404;
initialDepth = 792.382612;
finalDepth = 793.350328;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.725487
#   Actual altitude:          51.725487
#   Commanded vehicle depth:  793.350328 
#   Seafloor depth:           -844.435891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.227143 meters
#   Minimum depth: 842.382612 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.346133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.382612 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795948;
longitude = -118.647729;
duration = 404;
initialDepth = 792.382612;
finalDepth = 792.382612;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.085563
#   Actual altitude:          51.085563
#   Commanded vehicle depth:  792.382612 
#   Seafloor depth:           -843.228695
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.226767 meters
#   Minimum depth: 842.382612 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.076192 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.382612 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796444;
longitude = -118.648647;
duration = 404;
initialDepth = 793.046081;
finalDepth = 792.382612;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.846083
#   Actual altitude:          50.846083
#   Commanded vehicle depth:  792.382612 
#   Seafloor depth:           -842.987663
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.226390 meters
#   Minimum depth: 843.046081 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.828206 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.046081 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796940;
longitude = -118.649565;
duration = 404;
initialDepth = 794.053832;
finalDepth = 793.046081;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.049755
#   Actual altitude:          51.049755
#   Commanded vehicle depth:  793.046081 
#   Seafloor depth:           -844.095836
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.226013 meters
#   Minimum depth: 844.053832 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.828206 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.053832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797435;
longitude = -118.650483;
duration = 404;
initialDepth = 794.053832;
finalDepth = 794.053832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.049755
#   Actual altitude:          51.049755
#   Commanded vehicle depth:  794.053832 
#   Seafloor depth:           -844.432880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.225636 meters
#   Minimum depth: 844.053832 meters looking forward 200.000000 meters along route
#   Maximum depth: 845.336261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.053832 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797931;
longitude = -118.651401;
duration = 404;
initialDepth = 794.213476;
finalDepth = 794.053832;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3790479999999
#   Actual altitude:          50.3790479999999
#   Commanded vehicle depth:  794.053832 
#   Seafloor depth:           -844.201548
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.225260 meters
#   Minimum depth: 844.213476 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.003057 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.213476 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798427;
longitude = -118.652319;
duration = 404;
initialDepth = 795.404884;
finalDepth = 794.213476;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.144501
#   Actual altitude:          51.144501
#   Commanded vehicle depth:  794.213476 
#   Seafloor depth:           -845.357977
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.224882 meters
#   Minimum depth: 845.404884 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.745527 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 795.404884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798922;
longitude = -118.653237;
duration = 404;
initialDepth = 795.996743;
finalDepth = 795.404884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.144501
#   Actual altitude:          51.144501
#   Commanded vehicle depth:  795.404884 
#   Seafloor depth:           -846.012488
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.224506 meters
#   Minimum depth: 845.996743 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.146934 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 795.996743 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799418;
longitude = -118.654155;
duration = 404;
initialDepth = 796.950477;
finalDepth = 795.996743;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.864925
#   Actual altitude:          50.864925
#   Commanded vehicle depth:  795.996743 
#   Seafloor depth:           -846.861668
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.224128 meters
#   Minimum depth: 846.950477 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.321069 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.950477 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799914;
longitude = -118.655073;
duration = 404;
initialDepth = 798.195018;
finalDepth = 796.950477;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.21137
#   Actual altitude:          51.21137
#   Commanded vehicle depth:  796.950477 
#   Seafloor depth:           -848.161847
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.223752 meters
#   Minimum depth: 848.195018 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.067701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.195018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800409;
longitude = -118.655991;
duration = 404;
initialDepth = 799.436453;
finalDepth = 798.195018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.21137
#   Actual altitude:          51.21137
#   Commanded vehicle depth:  798.195018 
#   Seafloor depth:           -849.377562
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.223375 meters
#   Minimum depth: 849.436453 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.257295 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.436453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800905;
longitude = -118.656909;
duration = 404;
initialDepth = 800.223301;
finalDepth = 799.436453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.182544
#   Actual altitude:          51.182544
#   Commanded vehicle depth:  799.436453 
#   Seafloor depth:           -850.144742
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.222998 meters
#   Minimum depth: 850.223301 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.497435 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.223301 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801400;
longitude = -118.657827;
duration = 404;
initialDepth = 801.269408;
finalDepth = 800.223301;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0434
#   Actual altitude:          51.0434
#   Commanded vehicle depth:  800.223301 
#   Seafloor depth:           -851.266701
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.222622 meters
#   Minimum depth: 851.269408 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.303146 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.269408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801896;
longitude = -118.658745;
duration = 404;
initialDepth = 801.510860;
finalDepth = 801.269408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0434
#   Actual altitude:          51.0434
#   Commanded vehicle depth:  801.269408 
#   Seafloor depth:           -851.500645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.222244 meters
#   Minimum depth: 851.510860 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.169198 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.510860 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802392;
longitude = -118.659663;
duration = 404;
initialDepth = 802.348351;
finalDepth = 801.510860;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.802268
#   Actual altitude:          50.802268
#   Commanded vehicle depth:  801.51086 
#   Seafloor depth:           -852.313128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.221868 meters
#   Minimum depth: 852.348351 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.346839 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.348351 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802887;
longitude = -118.660581;
duration = 404;
initialDepth = 803.269069;
finalDepth = 802.348351;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.855684
#   Actual altitude:          50.855684
#   Commanded vehicle depth:  802.348351 
#   Seafloor depth:           -853.204035
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.221491 meters
#   Minimum depth: 853.269069 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.357236 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 803.269069 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803383;
longitude = -118.661499;
duration = 404;
initialDepth = 804.511105;
finalDepth = 803.269069;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1420820000001
#   Actual altitude:          51.1420820000001
#   Commanded vehicle depth:  803.269069 
#   Seafloor depth:           -854.411151
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.221115 meters
#   Minimum depth: 854.511105 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.627876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.511105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803879;
longitude = -118.662417;
duration = 404;
initialDepth = 805.414131;
finalDepth = 804.511105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1420820000001
#   Actual altitude:          51.1420820000001
#   Commanded vehicle depth:  804.511105 
#   Seafloor depth:           -855.381416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.220737 meters
#   Minimum depth: 855.414131 meters looking forward 200.000000 meters along route
#   Maximum depth: 858.079378 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 805.414131 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804374;
longitude = -118.663335;
duration = 404;
initialDepth = 806.722934;
finalDepth = 805.414131;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.247133
#   Actual altitude:          51.247133
#   Commanded vehicle depth:  805.414131 
#   Seafloor depth:           -856.661264
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.220361 meters
#   Minimum depth: 856.722934 meters looking forward 200.000000 meters along route
#   Maximum depth: 860.106700 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 806.722934 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804870;
longitude = -118.664253;
duration = 404;
initialDepth = 808.277321;
finalDepth = 806.722934;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.443943
#   Actual altitude:          51.443943
#   Commanded vehicle depth:  806.722934 
#   Seafloor depth:           -858.166877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 72
#   Segment length 101.174741 meters
#   Minimum depth: 858.277321 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.799979 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 808.277321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805366;
longitude = -118.665171;
duration = 404;
initialDepth = 807.828992;
finalDepth = 808.277321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.873917
#   Actual altitude:          51.873917
#   Commanded vehicle depth:  808.277321 
#   Seafloor depth:           -860.151238
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
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 71
#   Segment length 151.640574 meters
#   Minimum depth: 857.828992 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.799979 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 807.828992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805861;
longitude = -118.666089;
duration = 606;
# abortOnTimeout    = True; 
initialDepth = 804.147127;
finalDepth = 807.828992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.934482
#   Actual altitude:          53.934482
#   Commanded vehicle depth:  807.828992 
#   Seafloor depth:           -861.763474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.36;
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 70
#   Segment length 174.255783 meters
#   Minimum depth: 854.147127 meters looking forward 200.000000 meters along route
#   Maximum depth: 858.325671 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.147127 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806970;
longitude = -118.665131;
duration = 697;
# abortOnTimeout    = True; 
initialDepth = 802.200584;
finalDepth = 804.147127;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.934482
#   Actual altitude:          53.934482
#   Commanded vehicle depth:  804.147127 
#   Seafloor depth:           -857.721680
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.271454 meters
#   Minimum depth: 852.200584 meters looking forward 200.000000 meters along route
#   Maximum depth: 856.092620 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.200584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806116;
longitude = -118.663551;
duration = 405;
initialDepth = 800.083465;
finalDepth = 802.200584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.574553
#   Actual altitude:          53.574553
#   Commanded vehicle depth:  802.200584 
#   Seafloor depth:           -854.147020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.271832 meters
#   Minimum depth: 850.083465 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.028742 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.083465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805619;
longitude = -118.662633;
duration = 405;
initialDepth = 798.490940;
finalDepth = 800.083465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.113852
#   Actual altitude:          52.113852
#   Commanded vehicle depth:  800.083465 
#   Seafloor depth:           -852.197317
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.272208 meters
#   Minimum depth: 848.490940 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.058846 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.490940 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805123;
longitude = -118.661715;
duration = 405;
initialDepth = 797.330041;
finalDepth = 798.490940;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.113852
#   Actual altitude:          52.113852
#   Commanded vehicle depth:  798.49094 
#   Seafloor depth:           -850.077189
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.272586 meters
#   Minimum depth: 847.330041 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.918613 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 797.330041 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804626;
longitude = -118.660797;
duration = 405;
initialDepth = 796.604005;
finalDepth = 797.330041;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.586249
#   Actual altitude:          51.586249
#   Commanded vehicle depth:  797.330041 
#   Seafloor depth:           -848.485320
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.272963 meters
#   Minimum depth: 846.604005 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.412298 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.604005 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804130;
longitude = -118.659879;
duration = 405;
initialDepth = 796.205199;
finalDepth = 796.604005;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.155279
#   Actual altitude:          51.155279
#   Commanded vehicle depth:  796.604005 
#   Seafloor depth:           -847.321791
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.273341 meters
#   Minimum depth: 846.205199 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.254541 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.205199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803633;
longitude = -118.658961;
duration = 405;
initialDepth = 796.027655;
finalDepth = 796.205199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.7177859999999
#   Actual altitude:          50.7177859999999
#   Commanded vehicle depth:  796.205199 
#   Seafloor depth:           -846.598074
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.273717 meters
#   Minimum depth: 846.027655 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.696036 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.027655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803137;
longitude = -118.658043;
duration = 405;
initialDepth = 794.773587;
finalDepth = 796.027655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.392875
#   Actual altitude:          50.392875
#   Commanded vehicle depth:  796.027655 
#   Seafloor depth:           -846.200373
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.274095 meters
#   Minimum depth: 844.773587 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.346661 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.773587 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802640;
longitude = -118.657125;
duration = 405;
initialDepth = 792.546119;
finalDepth = 794.773587;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.25269
#   Actual altitude:          51.25269
#   Commanded vehicle depth:  794.773587 
#   Seafloor depth:           -846.026277
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.274473 meters
#   Minimum depth: 842.546119 meters looking forward 200.000000 meters along route
#   Maximum depth: 845.980559 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.546119 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802144;
longitude = -118.656207;
duration = 405;
initialDepth = 785.748074;
finalDepth = 792.546119;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.304496
#   Actual altitude:          52.304496
#   Commanded vehicle depth:  792.546119 
#   Seafloor depth:           -844.850615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 100.014322 meters
#   Minimum depth: 835.748074 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.818660 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.748074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801647;
longitude = -118.655289;
duration = 400;
initialDepth = 782.128196;
finalDepth = 785.748074;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.716766
#   Actual altitude:          56.716766
#   Commanded vehicle depth:  785.748074 
#   Seafloor depth:           -842.464840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.149725 meters
#   Minimum depth: 832.128196 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.960318 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.128196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801157;
longitude = -118.654383;
duration = 404;
initialDepth = 782.120825;
finalDepth = 782.128196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.716766
#   Actual altitude:          56.716766
#   Commanded vehicle depth:  782.128196 
#   Seafloor depth:           -835.447330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.150102 meters
#   Minimum depth: 832.120825 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.038771 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.120825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800661;
longitude = -118.653466;
duration = 404;
initialDepth = 782.123123;
finalDepth = 782.120825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.319134
#   Actual altitude:          53.319134
#   Commanded vehicle depth:  782.120825 
#   Seafloor depth:           -832.120825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.150478 meters
#   Minimum depth: 832.123123 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.785124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.123123 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800165;
longitude = -118.652549;
duration = 404;
initialDepth = 782.790194;
finalDepth = 782.123123;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.537548
#   Actual altitude:          50.537548
#   Commanded vehicle depth:  782.123123 
#   Seafloor depth:           -832.660671
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.150855 meters
#   Minimum depth: 832.790194 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.371803 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.790194 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799669;
longitude = -118.651632;
duration = 404;
initialDepth = 783.861998;
finalDepth = 782.790194;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.936067
#   Actual altitude:          50.936067
#   Commanded vehicle depth:  782.790194 
#   Seafloor depth:           -833.726261
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.151231 meters
#   Minimum depth: 833.861998 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.169586 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.861998 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799173;
longitude = -118.650715;
duration = 404;
initialDepth = 783.240450;
finalDepth = 783.861998;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.936067
#   Actual altitude:          50.936067
#   Commanded vehicle depth:  783.861998 
#   Seafloor depth:           -834.364156
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.151608 meters
#   Minimum depth: 833.240450 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.169586 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.240450 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798677;
longitude = -118.649798;
duration = 404;
initialDepth = 783.095467;
finalDepth = 783.240450;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7387669999999
#   Actual altitude:          52.7387669999999
#   Commanded vehicle depth:  783.24045 
#   Seafloor depth:           -835.979217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.151984 meters
#   Minimum depth: 833.095467 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.891801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.095467 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798182;
longitude = -118.648882;
duration = 404;
initialDepth = 783.330312;
finalDepth = 783.095467;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7387669999999
#   Actual altitude:          52.7387669999999
#   Commanded vehicle depth:  783.095467 
#   Seafloor depth:           -833.137020
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.152361 meters
#   Minimum depth: 833.330312 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.807984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.330312 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797686;
longitude = -118.647965;
duration = 404;
initialDepth = 784.992923;
finalDepth = 783.330312;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.316333
#   Actual altitude:          51.316333
#   Commanded vehicle depth:  783.330312 
#   Seafloor depth:           -834.646645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.152737 meters
#   Minimum depth: 834.992923 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.504414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.992923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797190;
longitude = -118.647048;
duration = 404;
initialDepth = 785.310145;
finalDepth = 784.992923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.316333
#   Actual altitude:          51.316333
#   Commanded vehicle depth:  784.992923 
#   Seafloor depth:           -835.221197
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.153114 meters
#   Minimum depth: 835.310145 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.934149 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.310145 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796694;
longitude = -118.646131;
duration = 404;
initialDepth = 786.538666;
finalDepth = 785.310145;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2113499999999
#   Actual altitude:          51.2113499999999
#   Commanded vehicle depth:  785.310145 
#   Seafloor depth:           -836.521495
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.153490 meters
#   Minimum depth: 836.538666 meters looking forward 200.000000 meters along route
#   Maximum depth: 837.475785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.538666 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796198;
longitude = -118.645214;
duration = 404;
initialDepth = 786.948807;
finalDepth = 786.538666;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2113499999999
#   Actual altitude:          51.2113499999999
#   Commanded vehicle depth:  786.538666 
#   Seafloor depth:           -836.873742
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.153867 meters
#   Minimum depth: 836.948807 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.989158 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.948807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795702;
longitude = -118.644297;
duration = 404;
initialDepth = 787.486571;
finalDepth = 786.948807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.531236
#   Actual altitude:          50.531236
#   Commanded vehicle depth:  786.948807 
#   Seafloor depth:           -837.480043
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.154243 meters
#   Minimum depth: 837.486571 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.390736 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 787.486571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795206;
longitude = -118.643380;
duration = 404;
initialDepth = 789.185973;
finalDepth = 787.486571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.614654
#   Actual altitude:          51.614654
#   Commanded vehicle depth:  787.486571 
#   Seafloor depth:           -839.101225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.154620 meters
#   Minimum depth: 839.185973 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.732613 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.185973 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794710;
longitude = -118.642464;
duration = 404;
initialDepth = 792.651195;
finalDepth = 789.185973;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.326377
#   Actual altitude:          53.326377
#   Commanded vehicle depth:  789.185973 
#   Seafloor depth:           -842.512350
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.154997 meters
#   Minimum depth: 842.651195 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.891848 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.651195 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794215;
longitude = -118.641547;
duration = 404;
initialDepth = 798.051451;
finalDepth = 792.651195;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.266
#   Actual altitude:          55.266
#   Commanded vehicle depth:  792.651195 
#   Seafloor depth:           -847.917195
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.155373 meters
#   Minimum depth: 848.051451 meters looking forward 200.000000 meters along route
#   Maximum depth: 861.349139 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.051451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793719;
longitude = -118.640630;
duration = 404;
initialDepth = 804.358226;
finalDepth = 798.051451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.0678389999999
#   Actual altitude:          56.0678389999999
#   Commanded vehicle depth:  798.051451 
#   Seafloor depth:           -854.119290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 101.155750 meters
#   Minimum depth: 854.358226 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.061939 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.358226 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793223;
longitude = -118.639713;
duration = 404;
initialDepth = 811.584877;
finalDepth = 804.358226;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.103601
#   Actual altitude:          57.103601
#   Commanded vehicle depth:  804.358226 
#   Seafloor depth:           -861.461827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 70
#   Segment length 100.961030 meters
#   Minimum depth: 861.584877 meters looking forward 200.000000 meters along route
#   Maximum depth: 864.576979 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 811.584877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792727;
longitude = -118.638796;
duration = 403;
initialDepth = 814.460277;
finalDepth = 811.584877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.103601
#   Actual altitude:          57.103601
#   Commanded vehicle depth:  811.584877 
#   Seafloor depth:           -864.072593
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.26;
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 69
#   Segment length 153.335023 meters
#   Minimum depth: 864.460277 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.001831 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.460277 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.792232;
longitude = -118.637881;
duration = 613;
# abortOnTimeout    = True; 
initialDepth = 814.125543;
finalDepth = 814.460277;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.487716
#   Actual altitude:          52.487716
#   Commanded vehicle depth:  814.460277 
#   Seafloor depth:           -864.569092
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.49;
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 68
#   Segment length 125.443063 meters
#   Minimum depth: 864.125543 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.012888 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 814.125543 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.793392;
longitude = -118.636980;
duration = 501;
# abortOnTimeout    = True; 
initialDepth = 809.674037;
finalDepth = 814.125543;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.876578
#   Actual altitude:          50.876578
#   Commanded vehicle depth:  814.125543 
#   Seafloor depth:           -865.002121
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.251646 meters
#   Minimum depth: 859.674037 meters looking forward 200.000000 meters along route
#   Maximum depth: 865.012888 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 809.674037 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794007;
longitude = -118.638117;
duration = 405;
initialDepth = 802.518790;
finalDepth = 809.674037;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.35497
#   Actual altitude:          54.35497
#   Commanded vehicle depth:  809.674037 
#   Seafloor depth:           -864.029007
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.251269 meters
#   Minimum depth: 852.518790 meters looking forward 200.000000 meters along route
#   Maximum depth: 863.884498 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.518790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794503;
longitude = -118.639035;
duration = 405;
initialDepth = 793.401691;
finalDepth = 802.518790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.9501730000001
#   Actual altitude:          56.9501730000001
#   Commanded vehicle depth:  802.51879 
#   Seafloor depth:           -859.468963
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.250891 meters
#   Minimum depth: 843.401691 meters looking forward 200.000000 meters along route
#   Maximum depth: 859.137321 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.401691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.794999;
longitude = -118.639953;
duration = 405;
initialDepth = 786.095473;
finalDepth = 793.401691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8017679999999
#   Actual altitude:          58.8017679999999
#   Commanded vehicle depth:  793.401691 
#   Seafloor depth:           -852.203459
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.250514 meters
#   Minimum depth: 836.095473 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.768947 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.095473 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795495;
longitude = -118.640871;
duration = 405;
initialDepth = 782.293586;
finalDepth = 786.095473;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8017679999999
#   Actual altitude:          58.8017679999999
#   Commanded vehicle depth:  786.095473 
#   Seafloor depth:           -843.060532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.250137 meters
#   Minimum depth: 832.293586 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.612008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.293586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.795991;
longitude = -118.641789;
duration = 405;
initialDepth = 780.346909;
finalDepth = 782.293586;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.965059
#   Actual altitude:          56.965059
#   Commanded vehicle depth:  782.293586 
#   Seafloor depth:           -835.913615
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.249760 meters
#   Minimum depth: 830.346909 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.657278 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 780.346909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796487;
longitude = -118.642707;
duration = 404;
initialDepth = 778.827435;
finalDepth = 780.346909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.620029
#   Actual altitude:          53.620029
#   Commanded vehicle depth:  780.346909 
#   Seafloor depth:           -832.210975
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.249382 meters
#   Minimum depth: 828.827435 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.085117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.827435 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796983;
longitude = -118.643625;
duration = 404;
initialDepth = 777.066847;
finalDepth = 778.827435;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.864066
#   Actual altitude:          51.864066
#   Commanded vehicle depth:  778.827435 
#   Seafloor depth:           -830.302746
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.249005 meters
#   Minimum depth: 827.066847 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.209355 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.066847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797479;
longitude = -118.644543;
duration = 404;
initialDepth = 772.910983;
finalDepth = 777.066847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.722577
#   Actual altitude:          51.722577
#   Commanded vehicle depth:  777.066847 
#   Seafloor depth:           -828.789424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.248628 meters
#   Minimum depth: 822.910983 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.758859 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 772.910983 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797975;
longitude = -118.645461;
duration = 404;
initialDepth = 760.752379;
finalDepth = 772.910983;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.09523
#   Actual altitude:          54.09523
#   Commanded vehicle depth:  772.910983 
#   Seafloor depth:           -827.006213
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.248251 meters
#   Minimum depth: 810.752379 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.922882 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 760.752379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798471;
longitude = -118.646379;
duration = 404;
initialDepth = 760.752379;
finalDepth = 760.752379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.725746
#   Actual altitude:          61.725746
#   Commanded vehicle depth:  760.752379 
#   Seafloor depth:           -822.478125
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.247873 meters
#   Minimum depth: 810.752379 meters looking forward 200.000000 meters along route
#   Maximum depth: 822.955229 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 760.752379 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798967;
longitude = -118.647297;
duration = 404;
initialDepth = 762.032156;
finalDepth = 760.752379;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.725746
#   Actual altitude:          61.725746
#   Commanded vehicle depth:  760.752379 
#   Seafloor depth:           -811.805117
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.247497 meters
#   Minimum depth: 812.032156 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.507999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 762.032156 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799463;
longitude = -118.648215;
duration = 404;
initialDepth = 767.546358;
finalDepth = 762.032156;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.120453
#   Actual altitude:          61.120453
#   Commanded vehicle depth:  762.032156 
#   Seafloor depth:           -823.152609
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.247119 meters
#   Minimum depth: 817.546358 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.507999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 767.546358 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799959;
longitude = -118.649133;
duration = 404;
initialDepth = 766.593827;
finalDepth = 767.546358;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.120453
#   Actual altitude:          61.120453
#   Commanded vehicle depth:  767.546358 
#   Seafloor depth:           -821.075606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.246742 meters
#   Minimum depth: 816.593827 meters looking forward 200.000000 meters along route
#   Maximum depth: 820.967787 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 766.593827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800455;
longitude = -118.650051;
duration = 404;
initialDepth = 766.593827;
finalDepth = 766.593827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5292479999999
#   Actual altitude:          53.5292479999999
#   Commanded vehicle depth:  766.593827 
#   Seafloor depth:           -817.443595
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.246365 meters
#   Minimum depth: 816.593827 meters looking forward 200.000000 meters along route
#   Maximum depth: 817.278151 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 766.593827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800951;
longitude = -118.650969;
duration = 404;
initialDepth = 766.976224;
finalDepth = 766.593827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.8497679999999
#   Actual altitude:          50.8497679999999
#   Commanded vehicle depth:  766.593827 
#   Seafloor depth:           -816.923477
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.245988 meters
#   Minimum depth: 816.976224 meters looking forward 200.000000 meters along route
#   Maximum depth: 819.398857 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 766.976224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801447;
longitude = -118.651887;
duration = 404;
initialDepth = 767.366764;
finalDepth = 766.976224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.32965
#   Actual altitude:          50.32965
#   Commanded vehicle depth:  766.976224 
#   Seafloor depth:           -817.305754
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.245610 meters
#   Minimum depth: 817.366764 meters looking forward 200.000000 meters along route
#   Maximum depth: 821.475598 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 767.366764 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801943;
longitude = -118.652805;
duration = 404;
initialDepth = 769.590218;
finalDepth = 767.366764;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.127735
#   Actual altitude:          52.127735
#   Commanded vehicle depth:  767.366764 
#   Seafloor depth:           -819.494499
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.245234 meters
#   Minimum depth: 819.590218 meters looking forward 200.000000 meters along route
#   Maximum depth: 822.625938 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 769.590218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802439;
longitude = -118.653723;
duration = 404;
initialDepth = 771.682501;
finalDepth = 769.590218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.127735
#   Actual altitude:          52.127735
#   Commanded vehicle depth:  769.590218 
#   Seafloor depth:           -821.583302
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.244856 meters
#   Minimum depth: 821.682501 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.523755 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 771.682501 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802935;
longitude = -118.654641;
duration = 404;
initialDepth = 772.321365;
finalDepth = 771.682501;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.993084
#   Actual altitude:          51.993084
#   Commanded vehicle depth:  771.682501 
#   Seafloor depth:           -822.592792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.244479 meters
#   Minimum depth: 822.321365 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.798518 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 772.321365 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803431;
longitude = -118.655559;
duration = 404;
initialDepth = 773.753695;
finalDepth = 772.321365;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.322585
#   Actual altitude:          51.322585
#   Commanded vehicle depth:  772.321365 
#   Seafloor depth:           -823.643950
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.244103 meters
#   Minimum depth: 823.753695 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.595204 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.753695 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803927;
longitude = -118.656477;
duration = 404;
initialDepth = 783.312184;
finalDepth = 773.753695;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.303655
#   Actual altitude:          59.303655
#   Commanded vehicle depth:  773.753695 
#   Seafloor depth:           -833.057350
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.243725 meters
#   Minimum depth: 833.312184 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.188367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.312184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804423;
longitude = -118.657395;
duration = 404;
initialDepth = 788.763217;
finalDepth = 783.312184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.303655
#   Actual altitude:          59.303655
#   Commanded vehicle depth:  783.312184 
#   Seafloor depth:           -838.649247
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.243348 meters
#   Minimum depth: 838.763217 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.264348 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 788.763217 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804919;
longitude = -118.658313;
duration = 404;
initialDepth = 789.810722;
finalDepth = 788.763217;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.3370629999999
#   Actual altitude:          55.3370629999999
#   Commanded vehicle depth:  788.763217 
#   Seafloor depth:           -840.215491
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.242971 meters
#   Minimum depth: 839.810722 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.940258 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.810722 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805415;
longitude = -118.659231;
duration = 404;
initialDepth = 789.810722;
finalDepth = 789.810722;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.452274
#   Actual altitude:          51.452274
#   Commanded vehicle depth:  789.810722 
#   Seafloor depth:           -839.907891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.242594 meters
#   Minimum depth: 839.810722 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.076167 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.810722 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805911;
longitude = -118.660149;
duration = 404;
initialDepth = 791.136440;
finalDepth = 789.810722;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.218316
#   Actual altitude:          51.218316
#   Commanded vehicle depth:  789.810722 
#   Seafloor depth:           -841.029038
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.242217 meters
#   Minimum depth: 841.136440 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.746068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 791.136440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806407;
longitude = -118.661067;
duration = 404;
initialDepth = 794.496274;
finalDepth = 791.136440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.125504
#   Actual altitude:          53.125504
#   Commanded vehicle depth:  791.13644 
#   Seafloor depth:           -844.261944
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.241840 meters
#   Minimum depth: 844.496274 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.427631 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.496274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806903;
longitude = -118.661985;
duration = 404;
initialDepth = 798.028153;
finalDepth = 794.496274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.374109
#   Actual altitude:          53.374109
#   Commanded vehicle depth:  794.496274 
#   Seafloor depth:           -847.870383
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.241463 meters
#   Minimum depth: 848.028153 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.278306 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.028153 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807399;
longitude = -118.662903;
duration = 404;
initialDepth = 800.657972;
finalDepth = 798.028153;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.374109
#   Actual altitude:          53.374109
#   Commanded vehicle depth:  798.028153 
#   Seafloor depth:           -850.544777
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.241086 meters
#   Minimum depth: 850.657972 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.468173 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.657972 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807895;
longitude = -118.663821;
duration = 404;
initialDepth = 803.547346;
finalDepth = 800.657972;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.73756
#   Actual altitude:          52.73756
#   Commanded vehicle depth:  800.657972 
#   Seafloor depth:           -853.395532
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 68
#   Segment length 101.195593 meters
#   Minimum depth: 853.547346 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.506974 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 803.547346 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808391;
longitude = -118.664739;
duration = 404;
initialDepth = 804.849781;
finalDepth = 803.547346;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.73756
#   Actual altitude:          52.73756
#   Commanded vehicle depth:  803.547346 
#   Seafloor depth:           -855.582347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 67
#   Segment length 150.263060 meters
#   Minimum depth: 854.849781 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.513519 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.849781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808887;
longitude = -118.665657;
duration = 601;
# abortOnTimeout    = True; 
initialDepth = 802.272397;
finalDepth = 804.849781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.663738
#   Actual altitude:          52.663738
#   Commanded vehicle depth:  804.849781 
#   Seafloor depth:           -857.513519
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 66
#   Segment length 159.741538 meters
#   Minimum depth: 852.272397 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.381862 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.272397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.810010;
longitude = -118.664749;
duration = 638;
# abortOnTimeout    = True; 
initialDepth = 799.420678;
finalDepth = 802.272397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.663738
#   Actual altitude:          52.663738
#   Commanded vehicle depth:  802.272397 
#   Seafloor depth:           -854.844681
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.067893 meters
#   Minimum depth: 849.420678 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.777880 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.420678 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.809226;
longitude = -118.663301;
duration = 404;
initialDepth = 796.096298;
finalDepth = 799.420678;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.787147
#   Actual altitude:          52.787147
#   Commanded vehicle depth:  799.420678 
#   Seafloor depth:           -852.207825
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.068268 meters
#   Minimum depth: 846.096298 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.167358 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.096298 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808730;
longitude = -118.662385;
duration = 404;
initialDepth = 792.239426;
finalDepth = 796.096298;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1033289999999
#   Actual altitude:          53.1033289999999
#   Commanded vehicle depth:  796.096298 
#   Seafloor depth:           -849.199627
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.068644 meters
#   Minimum depth: 842.239426 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.033287 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.239426 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808234;
longitude = -118.661470;
duration = 404;
initialDepth = 786.002400;
finalDepth = 792.239426;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.789278
#   Actual altitude:          53.789278
#   Commanded vehicle depth:  792.239426 
#   Seafloor depth:           -846.028704
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.069020 meters
#   Minimum depth: 836.002400 meters looking forward 200.000000 meters along route
#   Maximum depth: 845.969279 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.002400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807739;
longitude = -118.660554;
duration = 404;
initialDepth = 785.180345;
finalDepth = 786.002400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.039026
#   Actual altitude:          56.039026
#   Commanded vehicle depth:  786.0024 
#   Seafloor depth:           -842.041426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.069396 meters
#   Minimum depth: 835.180345 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.869516 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.180345 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807243;
longitude = -118.659638;
duration = 404;
initialDepth = 783.037339;
finalDepth = 785.180345;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.039026
#   Actual altitude:          56.039026
#   Commanded vehicle depth:  785.180345 
#   Seafloor depth:           -835.867398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.069771 meters
#   Minimum depth: 833.037339 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.235481 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.037339 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806747;
longitude = -118.658722;
duration = 404;
initialDepth = 779.643359;
finalDepth = 783.037339;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.065526
#   Actual altitude:          52.065526
#   Commanded vehicle depth:  783.037339 
#   Seafloor depth:           -835.102865
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.070148 meters
#   Minimum depth: 829.643359 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.998777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.643359 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806251;
longitude = -118.657806;
duration = 404;
initialDepth = 776.347105;
finalDepth = 779.643359;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.324659
#   Actual altitude:          53.324659
#   Commanded vehicle depth:  779.643359 
#   Seafloor depth:           -832.968018
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.070523 meters
#   Minimum depth: 826.347105 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.856509 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 776.347105 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805755;
longitude = -118.656890;
duration = 404;
initialDepth = 774.428575;
finalDepth = 776.347105;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.324659
#   Actual altitude:          53.324659
#   Commanded vehicle depth:  776.347105 
#   Seafloor depth:           -829.589452
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.070900 meters
#   Minimum depth: 824.428575 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.494180 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.428575 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805259;
longitude = -118.655974;
duration = 404;
initialDepth = 773.514491;
finalDepth = 774.428575;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.242347
#   Actual altitude:          53.242347
#   Commanded vehicle depth:  774.428575 
#   Seafloor depth:           -826.325025
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.071275 meters
#   Minimum depth: 823.514491 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.261995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.514491 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804763;
longitude = -118.655058;
duration = 404;
initialDepth = 772.555658;
finalDepth = 773.514491;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.89645
#   Actual altitude:          51.89645
#   Commanded vehicle depth:  773.514491 
#   Seafloor depth:           -824.403302
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.071651 meters
#   Minimum depth: 822.555658 meters looking forward 200.000000 meters along route
#   Maximum depth: 824.383490 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 772.555658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804267;
longitude = -118.654142;
duration = 404;
initialDepth = 771.329505;
finalDepth = 772.555658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.9404950000001
#   Actual altitude:          50.9404950000001
#   Commanded vehicle depth:  772.555658 
#   Seafloor depth:           -823.496153
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.072028 meters
#   Minimum depth: 821.329505 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.446843 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 771.329505 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803772;
longitude = -118.653227;
duration = 404;
initialDepth = 770.037124;
finalDepth = 771.329505;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2139969999999
#   Actual altitude:          51.2139969999999
#   Commanded vehicle depth:  771.329505 
#   Seafloor depth:           -822.543502
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.072403 meters
#   Minimum depth: 820.037124 meters looking forward 200.000000 meters along route
#   Maximum depth: 822.493668 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 770.037124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803276;
longitude = -118.652311;
duration = 404;
initialDepth = 768.799001;
finalDepth = 770.037124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.285925
#   Actual altitude:          51.285925
#   Commanded vehicle depth:  770.037124 
#   Seafloor depth:           -821.323049
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.072779 meters
#   Minimum depth: 818.799001 meters looking forward 200.000000 meters along route
#   Maximum depth: 821.278839 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 768.799001 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802780;
longitude = -118.651395;
duration = 404;
initialDepth = 767.989108;
finalDepth = 768.799001;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.285925
#   Actual altitude:          51.285925
#   Commanded vehicle depth:  768.799001 
#   Seafloor depth:           -820.032324
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.073155 meters
#   Minimum depth: 817.989108 meters looking forward 200.000000 meters along route
#   Maximum depth: 820.005268 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 767.989108 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802284;
longitude = -118.650479;
duration = 404;
initialDepth = 767.320330;
finalDepth = 767.989108;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.233323
#   Actual altitude:          51.233323
#   Commanded vehicle depth:  767.989108 
#   Seafloor depth:           -818.794485
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.073531 meters
#   Minimum depth: 817.320330 meters looking forward 200.000000 meters along route
#   Maximum depth: 818.790870 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 767.320330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801788;
longitude = -118.649563;
duration = 404;
initialDepth = 766.648739;
finalDepth = 767.320330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.805377
#   Actual altitude:          50.805377
#   Commanded vehicle depth:  767.32033 
#   Seafloor depth:           -817.989793
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.277684 meters
#   Minimum depth: 816.648739 meters looking forward 200.000000 meters along route
#   Maximum depth: 817.983660 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 766.648739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801292;
longitude = -118.648647;
duration = 405;
initialDepth = 765.187771;
finalDepth = 766.648739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.84388
#   Actual altitude:          50.84388
#   Commanded vehicle depth:  766.648739 
#   Seafloor depth:           -817.492619
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.307065 meters
#   Minimum depth: 815.187771 meters looking forward 200.000000 meters along route
#   Maximum depth: 817.513411 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 765.187771 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800795;
longitude = -118.647729;
duration = 405;
initialDepth = 765.187771;
finalDepth = 765.187771;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.457448
#   Actual altitude:          51.457448
#   Commanded vehicle depth:  765.187771 
#   Seafloor depth:           -816.645219
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.307442 meters
#   Minimum depth: 815.187771 meters looking forward 200.000000 meters along route
#   Maximum depth: 817.215879 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 765.187771 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800298;
longitude = -118.646811;
duration = 405;
initialDepth = 765.532150;
finalDepth = 765.187771;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.457448
#   Actual altitude:          51.457448
#   Commanded vehicle depth:  765.187771 
#   Seafloor depth:           -815.671779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.307821 meters
#   Minimum depth: 815.532150 meters looking forward 200.000000 meters along route
#   Maximum depth: 821.770122 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 765.532150 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799801;
longitude = -118.645893;
duration = 405;
initialDepth = 767.528474;
finalDepth = 765.532150;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.717141
#   Actual altitude:          51.717141
#   Commanded vehicle depth:  765.53215 
#   Seafloor depth:           -817.249291
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.308198 meters
#   Minimum depth: 817.528474 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.940695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 767.528474 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799304;
longitude = -118.644975;
duration = 405;
initialDepth = 771.993039;
finalDepth = 767.528474;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2739
#   Actual altitude:          54.2739
#   Commanded vehicle depth:  767.528474 
#   Seafloor depth:           -821.802374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.308576 meters
#   Minimum depth: 821.993039 meters looking forward 200.000000 meters along route
#   Maximum depth: 826.997247 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 771.993039 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798807;
longitude = -118.644057;
duration = 405;
initialDepth = 774.143558;
finalDepth = 771.993039;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.2739
#   Actual altitude:          54.2739
#   Commanded vehicle depth:  771.993039 
#   Seafloor depth:           -823.974154
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.308953 meters
#   Minimum depth: 824.143558 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.896911 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.143558 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798310;
longitude = -118.643139;
duration = 405;
initialDepth = 777.296660;
finalDepth = 774.143558;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9103260000001
#   Actual altitude:          52.9103260000001
#   Commanded vehicle depth:  774.143558 
#   Seafloor depth:           -827.053884
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.309332 meters
#   Minimum depth: 827.296660 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.283399 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.296660 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797813;
longitude = -118.642221;
duration = 405;
initialDepth = 781.283118;
finalDepth = 777.296660;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.6722600000001
#   Actual altitude:          53.6722600000001
#   Commanded vehicle depth:  777.29666 
#   Seafloor depth:           -830.968920
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 101.309709 meters
#   Minimum depth: 831.283118 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.837064 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.283118 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797316;
longitude = -118.641303;
duration = 405;
initialDepth = 786.867293;
finalDepth = 781.283118;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.136016
#   Actual altitude:          55.136016
#   Commanded vehicle depth:  781.283118 
#   Seafloor depth:           -836.419134
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 66
#   Segment length 102.340217 meters
#   Minimum depth: 836.867293 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.958023 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.867293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796819;
longitude = -118.640385;
duration = 409;
initialDepth = 796.278884;
finalDepth = 786.867293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.144201
#   Actual altitude:          56.144201
#   Commanded vehicle depth:  786.867293 
#   Seafloor depth:           -843.011494
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.69;
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 65
#   Segment length 147.198780 meters
#   Minimum depth: 846.278884 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.029781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.278884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.796317;
longitude = -118.639458;
duration = 588;
# abortOnTimeout    = True; 
initialDepth = 793.779337;
finalDepth = 796.278884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.144201
#   Actual altitude:          56.144201
#   Commanded vehicle depth:  796.278884 
#   Seafloor depth:           -849.107330
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.69;
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 64
#   Segment length 176.170548 meters
#   Minimum depth: 843.779337 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.029781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.779337 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.797419;
longitude = -118.638572;
duration = 704;
# abortOnTimeout    = True; 
initialDepth = 788.957868;
finalDepth = 793.779337;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2033439999999
#   Actual altitude:          57.2033439999999
#   Commanded vehicle depth:  793.779337 
#   Seafloor depth:           -850.982681
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.246180 meters
#   Minimum depth: 838.957868 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.807328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 788.957868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798282;
longitude = -118.640169;
duration = 404;
initialDepth = 784.432858;
finalDepth = 788.957868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.2033439999999
#   Actual altitude:          57.2033439999999
#   Commanded vehicle depth:  788.957868 
#   Seafloor depth:           -843.674300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.245802 meters
#   Minimum depth: 834.432858 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.353941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.432858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.798778;
longitude = -118.641087;
duration = 404;
initialDepth = 780.460861;
finalDepth = 784.432858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.7164320000001
#   Actual altitude:          54.7164320000001
#   Commanded vehicle depth:  784.432858 
#   Seafloor depth:           -838.849126
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.245425 meters
#   Minimum depth: 830.460861 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.584008 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 780.460861 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799274;
longitude = -118.642005;
duration = 404;
initialDepth = 777.238093;
finalDepth = 780.460861;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.4162679999999
#   Actual altitude:          54.4162679999999
#   Commanded vehicle depth:  780.460861 
#   Seafloor depth:           -834.329565
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.245048 meters
#   Minimum depth: 827.238093 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.076455 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.238093 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.799770;
longitude = -118.642923;
duration = 404;
initialDepth = 775.229727;
finalDepth = 777.238093;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.868704
#   Actual altitude:          53.868704
#   Commanded vehicle depth:  777.238093 
#   Seafloor depth:           -830.387243
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.244671 meters
#   Minimum depth: 825.229727 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.167645 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 775.229727 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800266;
longitude = -118.643841;
duration = 404;
initialDepth = 773.962890;
finalDepth = 775.229727;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.14915
#   Actual altitude:          53.14915
#   Commanded vehicle depth:  775.229727 
#   Seafloor depth:           -827.183939
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.244293 meters
#   Minimum depth: 823.962890 meters looking forward 200.000000 meters along route
#   Maximum depth: 827.028722 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.962890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.800762;
longitude = -118.644759;
duration = 404;
initialDepth = 773.581402;
finalDepth = 773.962890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.954212
#   Actual altitude:          51.954212
#   Commanded vehicle depth:  773.96289 
#   Seafloor depth:           -825.197540
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.243916 meters
#   Minimum depth: 823.581402 meters looking forward 200.000000 meters along route
#   Maximum depth: 825.091414 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.581402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801258;
longitude = -118.645677;
duration = 404;
initialDepth = 773.562804;
finalDepth = 773.581402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.23465
#   Actual altitude:          51.23465
#   Commanded vehicle depth:  773.581402 
#   Seafloor depth:           -823.948925
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.243539 meters
#   Minimum depth: 823.562804 meters looking forward 200.000000 meters along route
#   Maximum depth: 823.973686 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.562804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.801754;
longitude = -118.646595;
duration = 404;
initialDepth = 773.562804;
finalDepth = 773.562804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.367523
#   Actual altitude:          50.367523
#   Commanded vehicle depth:  773.562804 
#   Seafloor depth:           -823.614134
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.243161 meters
#   Minimum depth: 823.562804 meters looking forward 200.000000 meters along route
#   Maximum depth: 824.686233 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.562804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802250;
longitude = -118.647513;
duration = 404;
initialDepth = 773.994284;
finalDepth = 773.562804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4151419999999
#   Actual altitude:          50.4151419999999
#   Commanded vehicle depth:  773.562804 
#   Seafloor depth:           -823.977946
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.242785 meters
#   Minimum depth: 823.994284 meters looking forward 200.000000 meters along route
#   Maximum depth: 825.632459 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.994284 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.802746;
longitude = -118.648431;
duration = 404;
initialDepth = 774.735863;
finalDepth = 773.994284;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.699224
#   Actual altitude:          50.699224
#   Commanded vehicle depth:  773.994284 
#   Seafloor depth:           -824.693508
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.242407 meters
#   Minimum depth: 824.735863 meters looking forward 200.000000 meters along route
#   Maximum depth: 827.045893 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.735863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803242;
longitude = -118.649349;
duration = 404;
initialDepth = 775.714303;
finalDepth = 774.735863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.916859
#   Actual altitude:          50.916859
#   Commanded vehicle depth:  774.735863 
#   Seafloor depth:           -825.652722
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.242030 meters
#   Minimum depth: 825.714303 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.533502 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 775.714303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.803738;
longitude = -118.650267;
duration = 404;
initialDepth = 777.120015;
finalDepth = 775.714303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3715550000001
#   Actual altitude:          51.3715550000001
#   Commanded vehicle depth:  775.714303 
#   Seafloor depth:           -827.085858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.241653 meters
#   Minimum depth: 827.120015 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.917904 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.120015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804234;
longitude = -118.651185;
duration = 404;
initialDepth = 778.660913;
finalDepth = 777.120015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4534540000001
#   Actual altitude:          51.4534540000001
#   Commanded vehicle depth:  777.120015 
#   Seafloor depth:           -828.573469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.241276 meters
#   Minimum depth: 828.660913 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.411693 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.660913 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.804730;
longitude = -118.652103;
duration = 404;
initialDepth = 780.046627;
finalDepth = 778.660913;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.4534540000001
#   Actual altitude:          51.4534540000001
#   Commanded vehicle depth:  778.660913 
#   Seafloor depth:           -829.949571
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.240898 meters
#   Minimum depth: 830.046627 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.905400 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 780.046627 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805226;
longitude = -118.653021;
duration = 404;
initialDepth = 781.520990;
finalDepth = 780.046627;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.3957330000001
#   Actual altitude:          51.3957330000001
#   Commanded vehicle depth:  780.046627 
#   Seafloor depth:           -831.442360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.240522 meters
#   Minimum depth: 831.520990 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.180573 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.520990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.805722;
longitude = -118.653939;
duration = 404;
initialDepth = 783.014528;
finalDepth = 781.520990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.407583
#   Actual altitude:          51.407583
#   Commanded vehicle depth:  781.52099 
#   Seafloor depth:           -832.928573
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.240144 meters
#   Minimum depth: 833.014528 meters looking forward 200.000000 meters along route
#   Maximum depth: 835.315330 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.014528 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806218;
longitude = -118.654857;
duration = 404;
initialDepth = 784.245986;
finalDepth = 783.014528;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.407583
#   Actual altitude:          51.407583
#   Commanded vehicle depth:  783.014528 
#   Seafloor depth:           -834.209224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.239767 meters
#   Minimum depth: 834.245986 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.276241 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.245986 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.806714;
longitude = -118.655775;
duration = 404;
initialDepth = 785.417109;
finalDepth = 784.245986;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.1946959999999
#   Actual altitude:          51.1946959999999
#   Commanded vehicle depth:  784.245986 
#   Seafloor depth:           -835.338607
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.239391 meters
#   Minimum depth: 835.417109 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.606969 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.417109 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807210;
longitude = -118.656693;
duration = 404;
initialDepth = 786.328083;
finalDepth = 785.417109;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.092621
#   Actual altitude:          51.092621
#   Commanded vehicle depth:  785.417109 
#   Seafloor depth:           -836.297839
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.239013 meters
#   Minimum depth: 836.328083 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.802357 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.328083 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.807706;
longitude = -118.657611;
duration = 404;
initialDepth = 786.385549;
finalDepth = 786.328083;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.88073
#   Actual altitude:          50.88073
#   Commanded vehicle depth:  786.328083 
#   Seafloor depth:           -836.558180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.238636 meters
#   Minimum depth: 836.385549 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.288806 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.385549 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808202;
longitude = -118.658529;
duration = 404;
initialDepth = 786.732679;
finalDepth = 786.385549;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.43395
#   Actual altitude:          50.43395
#   Commanded vehicle depth:  786.385549 
#   Seafloor depth:           -836.819499
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.238259 meters
#   Minimum depth: 836.732679 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.419520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.732679 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.808698;
longitude = -118.659447;
duration = 404;
initialDepth = 788.474308;
finalDepth = 786.732679;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.6060660000001
#   Actual altitude:          51.6060660000001
#   Commanded vehicle depth:  786.732679 
#   Seafloor depth:           -838.338745
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.237882 meters
#   Minimum depth: 838.474308 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.035842 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 788.474308 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.809194;
longitude = -118.660365;
duration = 404;
initialDepth = 791.753989;
finalDepth = 788.474308;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.0367080000001
#   Actual altitude:          53.0367080000001
#   Commanded vehicle depth:  788.474308 
#   Seafloor depth:           -841.511016
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.237505 meters
#   Minimum depth: 841.753989 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.849506 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 791.753989 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.809690;
longitude = -118.661283;
duration = 404;
initialDepth = 796.394434;
finalDepth = 791.753989;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.388335
#   Actual altitude:          54.388335
#   Commanded vehicle depth:  791.753989 
#   Seafloor depth:           -846.142324
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.237128 meters
#   Minimum depth: 846.394434 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.350775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 796.394434 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.810186;
longitude = -118.662201;
duration = 404;
initialDepth = 801.135213;
finalDepth = 796.394434;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.556123
#   Actual altitude:          54.556123
#   Commanded vehicle depth:  796.394434 
#   Seafloor depth:           -850.950557
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 64
#   Segment length 101.081867 meters
#   Minimum depth: 851.135213 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.054929 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.135213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.810682;
longitude = -118.663119;
duration = 404;
initialDepth = 802.582507;
finalDepth = 801.135213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.556123
#   Actual altitude:          54.556123
#   Commanded vehicle depth:  801.135213 
#   Seafloor depth:           -852.371600
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 63
#   Segment length 156.714129 meters
#   Minimum depth: 852.582507 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.152747 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.582507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.811177;
longitude = -118.664036;
duration = 626;
# abortOnTimeout    = True; 
initialDepth = 801.830044;
finalDepth = 802.582507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.2363869999999
#   Actual altitude:          51.2363869999999
#   Commanded vehicle depth:  802.582507 
#   Seafloor depth:           -853.051178
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 100.557777 meters
#   Minimum depth: 851.830044 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.948328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.830044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.812441;
longitude = -118.664793;
duration = 402;
initialDepth = 799.991291;
finalDepth = 801.830044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.737358
#   Actual altitude:          50.737358
#   Commanded vehicle depth:  801.830044 
#   Seafloor depth:           -852.567402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 100.557614 meters
#   Minimum depth: 849.991291 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.526821 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.991291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.813252;
longitude = -118.665279;
duration = 402;
initialDepth = 797.557408;
finalDepth = 799.991291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8226979999999
#   Actual altitude:          51.8226979999999
#   Commanded vehicle depth:  799.991291 
#   Seafloor depth:           -851.813989
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 100.557451 meters
#   Minimum depth: 847.557408 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.769161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 797.557408 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.814062;
longitude = -118.665765;
duration = 402;
initialDepth = 795.028161;
finalDepth = 797.557408;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.4005089999999
#   Actual altitude:          52.4005089999999
#   Commanded vehicle depth:  797.557408 
#   Seafloor depth:           -849.957917
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 100.557289 meters
#   Minimum depth: 845.028161 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.878802 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 795.028161 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.814873;
longitude = -118.666251;
duration = 402;
initialDepth = 790.587526;
finalDepth = 795.028161;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.485683
#   Actual altitude:          52.485683
#   Commanded vehicle depth:  795.028161 
#   Seafloor depth:           -847.513844
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 63
#   Segment length 101.299183 meters
#   Minimum depth: 840.587526 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.386988 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 790.587526 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.815684;
longitude = -118.666737;
duration = 405;
initialDepth = 787.292582;
finalDepth = 790.587526;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       54.406312
#   Actual altitude:          54.406312
#   Commanded vehicle depth:  790.587526 
#   Seafloor depth:           -844.993838
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 62
#   Segment length 99.465004 meters
#   Minimum depth: 837.292582 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.854720 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 787.292582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.816501;
longitude = -118.667227;
duration = 397;
# abortOnTimeout    = True; 
initialDepth = 784.759483;
finalDepth = 787.292582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.406312
#   Actual altitude:          54.406312
#   Commanded vehicle depth:  787.292582 
#   Seafloor depth:           -840.550095
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 100.129820 meters
#   Minimum depth: 834.759483 meters looking forward 200.000000 meters along route
#   Maximum depth: 840.550095 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.759483 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817278;
longitude = -118.667763;
duration = 400;
initialDepth = 781.197170;
finalDepth = 784.759483;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.257513
#   Actual altitude:          53.257513
#   Commanded vehicle depth:  784.759483 
#   Seafloor depth:           -837.162531
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 100.129622 meters
#   Minimum depth: 831.197170 meters looking forward 200.000000 meters along route
#   Maximum depth: 837.089446 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.197170 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818060;
longitude = -118.668303;
duration = 400;
initialDepth = 774.732976;
finalDepth = 781.197170;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.438622
#   Actual altitude:          53.438622
#   Commanded vehicle depth:  781.19717 
#   Seafloor depth:           -834.635792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 100.129422 meters
#   Minimum depth: 824.732976 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.486853 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.732976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818843;
longitude = -118.668843;
duration = 400;
initialDepth = 774.732976;
finalDepth = 774.732976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3972239999999
#   Actual altitude:          56.3972239999999
#   Commanded vehicle depth:  774.732976 
#   Seafloor depth:           -831.130200
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 100.129223 meters
#   Minimum depth: 824.732976 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.008196 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.732976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819625;
longitude = -118.669383;
duration = 400;
initialDepth = 774.957761;
finalDepth = 774.732976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3972239999999
#   Actual altitude:          56.3972239999999
#   Commanded vehicle depth:  774.732976 
#   Seafloor depth:           -824.880823
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 100.129024 meters
#   Minimum depth: 824.957761 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.600415 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.957761 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820407;
longitude = -118.669923;
duration = 400;
initialDepth = 779.891213;
finalDepth = 774.957761;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.574516
#   Actual altitude:          55.574516
#   Commanded vehicle depth:  774.957761 
#   Seafloor depth:           -830.532277
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 101.697159 meters
#   Minimum depth: 829.891213 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.538804 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.891213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821189;
longitude = -118.670463;
duration = 406;
initialDepth = 779.891213;
finalDepth = 779.891213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.574516
#   Actual altitude:          55.574516
#   Commanded vehicle depth:  779.891213 
#   Seafloor depth:           -829.967684
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 62
#   Segment length 104.971112 meters
#   Minimum depth: 829.891213 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.028588 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.891213 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821984;
longitude = -118.671012;
duration = 419;
initialDepth = 778.827036;
finalDepth = 779.891213;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       50.4200510000001
#   Actual altitude:          50.4200510000001
#   Commanded vehicle depth:  779.891213 
#   Seafloor depth:           -830.311264
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 61
#   Segment length 144.327886 meters
#   Minimum depth: 828.827036 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.028588 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.827036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822804;
longitude = -118.671578;
duration = 577;
# abortOnTimeout    = True; 
initialDepth = 778.698681;
finalDepth = 778.827036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.664907
#   Actual altitude:          51.664907
#   Commanded vehicle depth:  778.827036 
#   Seafloor depth:           -830.491943
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 104.432683 meters
#   Minimum depth: 828.698681 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.191545 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.698681 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.823180;
longitude = -118.670085;
duration = 417;
initialDepth = 776.935517;
finalDepth = 778.698681;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.664907
#   Actual altitude:          51.664907
#   Commanded vehicle depth:  778.698681 
#   Seafloor depth:           -828.903167
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 104.432340 meters
#   Minimum depth: 826.935517 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.970395 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 776.935517 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.823453;
longitude = -118.669005;
duration = 417;
initialDepth = 773.913565;
finalDepth = 776.935517;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7394430000001
#   Actual altitude:          51.7394430000001
#   Commanded vehicle depth:  776.935517 
#   Seafloor depth:           -828.674960
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 61
#   Segment length 105.148755 meters
#   Minimum depth: 823.913565 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.659372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.913565 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.823725;
longitude = -118.667925;
duration = 420;
initialDepth = 773.911987;
finalDepth = 773.913565;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.867877
#   Actual altitude:          52.867877
#   Commanded vehicle depth:  773.913565 
#   Seafloor depth:           -826.781442
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.72;
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 60
#   Segment length 176.122162 meters
#   Minimum depth: 823.911987 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.699383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.911987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.823999;
longitude = -118.666838;
duration = 704;
# abortOnTimeout    = True; 
initialDepth = 776.054571;
finalDepth = 773.911987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.867877
#   Actual altitude:          52.867877
#   Commanded vehicle depth:  773.911987 
#   Seafloor depth:           -823.911987
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 101.814240 meters
#   Minimum depth: 826.054571 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.902816 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 776.054571 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.823256;
longitude = -118.668519;
duration = 407;
initialDepth = 778.594588;
finalDepth = 776.054571;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.689178
#   Actual altitude:          52.689178
#   Commanded vehicle depth:  776.054571 
#   Seafloor depth:           -828.743749
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 103.431047 meters
#   Minimum depth: 828.594588 meters looking forward 200.000000 meters along route
#   Maximum depth: 828.922592 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.594588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822826;
longitude = -118.669491;
duration = 413;
initialDepth = 778.594588;
finalDepth = 778.594588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.689178
#   Actual altitude:          52.689178
#   Commanded vehicle depth:  778.594588 
#   Seafloor depth:           -828.887403
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 100.198725 meters
#   Minimum depth: 828.594588 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.719408 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.594588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822390;
longitude = -118.670479;
duration = 400;
initialDepth = 779.056747;
finalDepth = 778.594588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.367349
#   Actual altitude:          50.367349
#   Commanded vehicle depth:  778.594588 
#   Seafloor depth:           -828.961937
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 102.770380 meters
#   Minimum depth: 829.056747 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.952259 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 779.056747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821967;
longitude = -118.671435;
duration = 411;
initialDepth = 783.510488;
finalDepth = 779.056747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.012929
#   Actual altitude:          54.012929
#   Commanded vehicle depth:  779.056747 
#   Seafloor depth:           -833.069676
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 100.861118 meters
#   Minimum depth: 833.510488 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.423945 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.510488 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821533;
longitude = -118.672417;
duration = 403;
initialDepth = 790.234405;
finalDepth = 783.510488;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.485064
#   Actual altitude:          56.485064
#   Commanded vehicle depth:  783.510488 
#   Seafloor depth:           -839.995552
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 102.109700 meters
#   Minimum depth: 840.234405 meters looking forward 200.000000 meters along route
#   Maximum depth: 847.633234 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 790.234405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821107;
longitude = -118.673379;
duration = 408;
initialDepth = 794.856635;
finalDepth = 790.234405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.485064
#   Actual altitude:          56.485064
#   Commanded vehicle depth:  790.234405 
#   Seafloor depth:           -844.533356
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 60
#   Segment length 105.353520 meters
#   Minimum depth: 844.856635 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.659816 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.856635 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820677;
longitude = -118.674354;
duration = 421;
initialDepth = 799.173416;
finalDepth = 794.856635;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.298951
#   Actual altitude:          54.298951
#   Commanded vehicle depth:  794.856635 
#   Seafloor depth:           -847.646114
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.58;
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 59
#   Segment length 129.547768 meters
#   Minimum depth: 849.173416 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.939902 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.173416 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820232;
longitude = -118.675360;
duration = 518;
# abortOnTimeout    = True; 
initialDepth = 798.626317;
finalDepth = 799.173416;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.789479
#   Actual altitude:          52.789479
#   Commanded vehicle depth:  799.173416 
#   Seafloor depth:           -851.712051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 58
#   Segment length 174.859446 meters
#   Minimum depth: 848.626317 meters looking forward 200.000000 meters along route
#   Maximum depth: 854.000330 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.626317 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819238;
longitude = -118.674625;
duration = 699;
# abortOnTimeout    = True; 
initialDepth = 793.431142;
finalDepth = 798.626317;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.365718
#   Actual altitude:          55.365718
#   Commanded vehicle depth:  798.626317 
#   Seafloor depth:           -853.992035
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.314931 meters
#   Minimum depth: 843.431142 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.159753 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.431142 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819963;
longitude = -118.672947;
duration = 405;
initialDepth = 785.136825;
finalDepth = 793.431142;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.365718
#   Actual altitude:          55.365718
#   Commanded vehicle depth:  793.431142 
#   Seafloor depth:           -848.587656
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.314506 meters
#   Minimum depth: 835.136825 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.424371 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.136825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820383;
longitude = -118.671975;
duration = 405;
initialDepth = 778.610586;
finalDepth = 785.136825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9287049999999
#   Actual altitude:          57.9287049999999
#   Commanded vehicle depth:  785.136825 
#   Seafloor depth:           -843.065530
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.314083 meters
#   Minimum depth: 828.610586 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.637447 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.610586 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820802;
longitude = -118.671003;
duration = 405;
initialDepth = 777.548880;
finalDepth = 778.610586;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9287049999999
#   Actual altitude:          57.9287049999999
#   Commanded vehicle depth:  778.610586 
#   Seafloor depth:           -834.769190
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.313658 meters
#   Minimum depth: 827.548880 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.287844 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.548880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821222;
longitude = -118.670031;
duration = 405;
initialDepth = 777.548880;
finalDepth = 777.548880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.158604
#   Actual altitude:          56.158604
#   Commanded vehicle depth:  777.54888 
#   Seafloor depth:           -828.564300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.313234 meters
#   Minimum depth: 827.548880 meters looking forward 200.000000 meters along route
#   Maximum depth: 829.647017 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.548880 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821642;
longitude = -118.669059;
duration = 405;
initialDepth = 777.938454;
finalDepth = 777.548880;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.0154199999999
#   Actual altitude:          51.0154199999999
#   Commanded vehicle depth:  777.54888 
#   Seafloor depth:           -827.820880
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 101.312811 meters
#   Minimum depth: 827.938454 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.033909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.938454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822062;
longitude = -118.668087;
duration = 405;
initialDepth = 777.448424;
finalDepth = 777.938454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7972990000001
#   Actual altitude:          51.7972990000001
#   Commanded vehicle depth:  777.938454 
#   Seafloor depth:           -829.735753
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 58
#   Segment length 105.420154 meters
#   Minimum depth: 827.448424 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.033909 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.448424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822482;
longitude = -118.667115;
duration = 421;
initialDepth = 777.415963;
finalDepth = 777.448424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.126125
#   Actual altitude:          52.126125
#   Commanded vehicle depth:  777.448424 
#   Seafloor depth:           -829.574549
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 57
#   Segment length 162.558234 meters
#   Minimum depth: 827.415963 meters looking forward 200.000000 meters along route
#   Maximum depth: 830.627371 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.415963 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822919;
longitude = -118.666104;
duration = 650;
# abortOnTimeout    = True; 
initialDepth = 778.950120;
finalDepth = 777.415963;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.126125
#   Actual altitude:          52.126125
#   Commanded vehicle depth:  777.415963 
#   Seafloor depth:           -827.418793
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 56
#   Segment length 110.032981 meters
#   Minimum depth: 828.950120 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.531759 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.950120 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821788;
longitude = -118.664987;
duration = 440;
# abortOnTimeout    = True; 
initialDepth = 781.113929;
finalDepth = 778.950120;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.754195
#   Actual altitude:          51.754195
#   Commanded vehicle depth:  778.95012 
#   Seafloor depth:           -830.704315
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 102.014305 meters
#   Minimum depth: 831.113929 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.603080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.113929 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821320;
longitude = -118.666035;
duration = 408;
initialDepth = 778.931918;
finalDepth = 781.113929;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.434825
#   Actual altitude:          52.434825
#   Commanded vehicle depth:  781.113929 
#   Seafloor depth:           -833.548754
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 102.567791 meters
#   Minimum depth: 828.931918 meters looking forward 200.000000 meters along route
#   Maximum depth: 833.603080 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 778.931918 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820887;
longitude = -118.667007;
duration = 410;
initialDepth = 774.832062;
finalDepth = 778.931918;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.434305
#   Actual altitude:          53.434305
#   Commanded vehicle depth:  778.931918 
#   Seafloor depth:           -832.366223
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 101.462122 meters
#   Minimum depth: 824.832062 meters looking forward 200.000000 meters along route
#   Maximum depth: 832.192875 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 774.832062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820451;
longitude = -118.667985;
duration = 405;
initialDepth = 773.039988;
finalDepth = 774.832062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.085535
#   Actual altitude:          54.085535
#   Commanded vehicle depth:  774.832062 
#   Seafloor depth:           -828.917597
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 102.015607 meters
#   Minimum depth: 823.039988 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.148554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.039988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820020;
longitude = -118.668951;
duration = 408;
initialDepth = 773.039988;
finalDepth = 773.039988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.085535
#   Actual altitude:          54.085535
#   Commanded vehicle depth:  773.039988 
#   Seafloor depth:           -824.293548
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 102.016042 meters
#   Minimum depth: 823.039988 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.493810 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 773.039988 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819587;
longitude = -118.669923;
duration = 408;
initialDepth = 784.843748;
finalDepth = 773.039988;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.332294
#   Actual altitude:          61.332294
#   Commanded vehicle depth:  773.039988 
#   Seafloor depth:           -834.372282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 102.016475 meters
#   Minimum depth: 834.843748 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.253010 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 784.843748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819153;
longitude = -118.670895;
duration = 408;
initialDepth = 794.678556;
finalDepth = 784.843748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.332294
#   Actual altitude:          61.332294
#   Commanded vehicle depth:  784.843748 
#   Seafloor depth:           -844.055786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 102.016910 meters
#   Minimum depth: 844.678556 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.396166 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 794.678556 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818720;
longitude = -118.671867;
duration = 408;
initialDepth = 800.814933;
finalDepth = 794.678556;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.212038
#   Actual altitude:          59.212038
#   Commanded vehicle depth:  794.678556 
#   Seafloor depth:           -850.393621
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 56
#   Segment length 105.015688 meters
#   Minimum depth: 850.814933 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.862469 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.814933 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818286;
longitude = -118.672839;
duration = 420;
initialDepth = 804.770267;
finalDepth = 800.814933;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.7150650000001
#   Actual altitude:          55.7150650000001
#   Commanded vehicle depth:  800.814933 
#   Seafloor depth:           -853.404741
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 55
#   Segment length 154.464802 meters
#   Minimum depth: 854.770267 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.192667 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 804.770267 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817840;
longitude = -118.673840;
duration = 617;
# abortOnTimeout    = True; 
initialDepth = 805.502107;
finalDepth = 804.770267;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.5898079999999
#   Actual altitude:          52.5898079999999
#   Commanded vehicle depth:  804.770267 
#   Seafloor depth:           -855.868713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 54
#   Segment length 100.558293 meters
#   Minimum depth: 855.502107 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.205170 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 805.502107 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.816645;
longitude = -118.672983;
duration = 402;
# abortOnTimeout    = True; 
initialDepth = 802.322340;
finalDepth = 805.502107;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.7030629999999
#   Actual altitude:          51.7030629999999
#   Commanded vehicle depth:  805.502107 
#   Seafloor depth:           -857.205170
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 102.501385 meters
#   Minimum depth: 852.322340 meters looking forward 200.000000 meters along route
#   Maximum depth: 857.096105 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.322340 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817079;
longitude = -118.672029;
duration = 410;
initialDepth = 793.638739;
finalDepth = 802.322340;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1324179999999
#   Actual altitude:          53.1324179999999
#   Commanded vehicle depth:  802.32234 
#   Seafloor depth:           -855.454758
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 104.180009 meters
#   Minimum depth: 843.638739 meters looking forward 200.000000 meters along route
#   Maximum depth: 855.237417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.638739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817522;
longitude = -118.671057;
duration = 416;
initialDepth = 785.825200;
finalDepth = 793.638739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.67755
#   Actual altitude:          58.67755
#   Commanded vehicle depth:  793.638739 
#   Seafloor depth:           -852.316289
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 100.821440 meters
#   Minimum depth: 835.825200 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.145316 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.825200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817972;
longitude = -118.670069;
duration = 403;
initialDepth = 781.890303;
finalDepth = 785.825200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.67755
#   Actual altitude:          58.67755
#   Commanded vehicle depth:  785.8252 
#   Seafloor depth:           -843.488463
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 102.500064 meters
#   Minimum depth: 831.890303 meters looking forward 200.000000 meters along route
#   Maximum depth: 843.157795 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.890303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818407;
longitude = -118.669113;
duration = 410;
initialDepth = 781.890303;
finalDepth = 781.890303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.663263
#   Actual altitude:          57.663263
#   Commanded vehicle depth:  781.890303 
#   Seafloor depth:           -835.334217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 102.499623 meters
#   Minimum depth: 831.890303 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.822112 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.890303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818850;
longitude = -118.668141;
duration = 409;
initialDepth = 782.513540;
finalDepth = 781.890303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4439139999999
#   Actual altitude:          53.4439139999999
#   Commanded vehicle depth:  781.890303 
#   Seafloor depth:           -832.288495
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 102.499182 meters
#   Minimum depth: 832.513540 meters looking forward 200.000000 meters along route
#   Maximum depth: 836.739587 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 782.513540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819292;
longitude = -118.667169;
duration = 409;
initialDepth = 783.634804;
finalDepth = 782.513540;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.972277
#   Actual altitude:          50.972277
#   Commanded vehicle depth:  782.51354 
#   Seafloor depth:           -833.485817
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 103.188620 meters
#   Minimum depth: 833.634804 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.742678 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 783.634804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819735;
longitude = -118.666197;
duration = 412;
initialDepth = 786.957713;
finalDepth = 783.634804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1408299999999
#   Actual altitude:          53.1408299999999
#   Commanded vehicle depth:  783.634804 
#   Seafloor depth:           -836.775634
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 54
#   Segment length 101.956590 meters
#   Minimum depth: 836.957713 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.765891 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 786.957713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820181;
longitude = -118.665219;
duration = 407;
initialDepth = 787.078946;
finalDepth = 786.957713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.1408299999999
#   Actual altitude:          53.1408299999999
#   Commanded vehicle depth:  786.957713 
#   Seafloor depth:           -838.748312
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 53
#   Segment length 151.374797 meters
#   Minimum depth: 837.078946 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.335592 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 787.078946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820621;
longitude = -118.664252;
duration = 605;
# abortOnTimeout    = True; 
initialDepth = 789.648746;
finalDepth = 787.078946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.790599
#   Actual altitude:          51.790599
#   Commanded vehicle depth:  787.078946 
#   Seafloor depth:           -837.130142
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 53
#   Segment length 104.758029 meters
#   Minimum depth: 839.648746 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.633533 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.648746 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819369;
longitude = -118.664904;
duration = 419;
initialDepth = 789.018233;
finalDepth = 789.648746;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       51.6959860000001
#   Actual altitude:          51.6959860000001
#   Commanded vehicle depth:  789.648746 
#   Seafloor depth:           -841.344732
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.02;
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 52
#   Segment length 88.080556 meters
#   Minimum depth: 839.018233 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.633533 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.018233 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818503;
longitude = -118.665355;
duration = 352;
# abortOnTimeout    = True; 
initialDepth = 785.844573;
finalDepth = 789.018233;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.578737
#   Actual altitude:          52.578737
#   Commanded vehicle depth:  789.018233 
#   Seafloor depth:           -841.596970
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 103.172171 meters
#   Minimum depth: 835.844573 meters looking forward 200.000000 meters along route
#   Maximum depth: 841.629262 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.844573 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818134;
longitude = -118.666197;
duration = 412;
initialDepth = 785.503043;
finalDepth = 785.844573;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.068751
#   Actual altitude:          53.068751
#   Commanded vehicle depth:  785.844573 
#   Seafloor depth:           -838.913324
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 100.089892 meters
#   Minimum depth: 835.503043 meters looking forward 200.000000 meters along route
#   Maximum depth: 838.824814 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.503043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817701;
longitude = -118.667184;
duration = 400;
initialDepth = 785.503043;
finalDepth = 785.503043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.068751
#   Actual altitude:          53.068751
#   Commanded vehicle depth:  785.503043 
#   Seafloor depth:           -835.808358
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 101.631675 meters
#   Minimum depth: 835.503043 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.960232 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.503043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817282;
longitude = -118.668141;
duration = 406;
initialDepth = 788.379961;
finalDepth = 785.503043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.591516
#   Actual altitude:          52.591516
#   Commanded vehicle depth:  785.503043 
#   Seafloor depth:           -838.094559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 52
#   Segment length 101.797125 meters
#   Minimum depth: 838.379961 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.684088 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 788.379961 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.816856;
longitude = -118.669113;
duration = 407;
initialDepth = 793.995110;
finalDepth = 788.379961;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.981434
#   Actual altitude:          56.981434
#   Commanded vehicle depth:  788.379961 
#   Seafloor depth:           -845.361395
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 51
#   Segment length 78.986015 meters
#   Minimum depth: 843.995110 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.952265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 793.995110 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.816429;
longitude = -118.670087;
duration = 315;
# abortOnTimeout    = True; 
initialDepth = 801.711381;
finalDepth = 793.995110;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8287730000001
#   Actual altitude:          58.8287730000001
#   Commanded vehicle depth:  793.99511 
#   Seafloor depth:           -852.823883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.795168 meters
#   Minimum depth: 851.711381 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.044053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 801.711381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.816942;
longitude = -118.670679;
duration = 403;
initialDepth = 802.475378;
finalDepth = 801.711381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8287730000001
#   Actual altitude:          58.8287730000001
#   Commanded vehicle depth:  801.711381 
#   Seafloor depth:           -852.959254
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.30;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.794830 meters
#   Minimum depth: 852.475378 meters looking forward 200.000000 meters along route
#   Maximum depth: 853.044053 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.475378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.817596;
longitude = -118.671435;
duration = 403;
initialDepth = 802.040471;
finalDepth = 802.475378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.247873
#   Actual altitude:          51.247873
#   Commanded vehicle depth:  802.475378 
#   Seafloor depth:           -852.620774
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.794492 meters
#   Minimum depth: 852.040471 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.613073 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 802.040471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818250;
longitude = -118.672191;
duration = 403;
initialDepth = 800.840747;
finalDepth = 802.040471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.4337939999999
#   Actual altitude:          50.4337939999999
#   Commanded vehicle depth:  802.040471 
#   Seafloor depth:           -852.474265
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.794154 meters
#   Minimum depth: 850.840747 meters looking forward 200.000000 meters along route
#   Maximum depth: 852.431716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 800.840747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.818904;
longitude = -118.672947;
duration = 403;
initialDepth = 799.915313;
finalDepth = 800.840747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.170345
#   Actual altitude:          51.170345
#   Commanded vehicle depth:  800.840747 
#   Seafloor depth:           -852.011092
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.793816 meters
#   Minimum depth: 849.915313 meters looking forward 200.000000 meters along route
#   Maximum depth: 851.986990 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.915313 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.819558;
longitude = -118.673703;
duration = 403;
initialDepth = 799.283613;
finalDepth = 799.915313;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.170345
#   Actual altitude:          51.170345
#   Commanded vehicle depth:  799.915313 
#   Seafloor depth:           -850.831360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.793479 meters
#   Minimum depth: 849.283613 meters looking forward 200.000000 meters along route
#   Maximum depth: 850.820445 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 799.283613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820212;
longitude = -118.674459;
duration = 403;
initialDepth = 798.848935;
finalDepth = 799.283613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.916047
#   Actual altitude:          50.916047
#   Commanded vehicle depth:  799.283613 
#   Seafloor depth:           -849.831267
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.793141 meters
#   Minimum depth: 848.848935 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.797996 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 798.848935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.820866;
longitude = -118.675215;
duration = 403;
initialDepth = 797.147765;
finalDepth = 798.848935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.6888220000001
#   Actual altitude:          50.6888220000001
#   Commanded vehicle depth:  798.848935 
#   Seafloor depth:           -849.537757
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.792802 meters
#   Minimum depth: 847.147765 meters looking forward 200.000000 meters along route
#   Maximum depth: 849.607201 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 797.147765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.821520;
longitude = -118.675971;
duration = 403;
initialDepth = 795.047018;
finalDepth = 797.147765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.5682459999999
#   Actual altitude:          51.5682459999999
#   Commanded vehicle depth:  797.147765 
#   Seafloor depth:           -848.716011
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.792465 meters
#   Minimum depth: 845.047018 meters looking forward 200.000000 meters along route
#   Maximum depth: 848.668068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 795.047018 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822174;
longitude = -118.676727;
duration = 403;
initialDepth = 792.557508;
finalDepth = 795.047018;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.057497
#   Actual altitude:          52.057497
#   Commanded vehicle depth:  795.047018 
#   Seafloor depth:           -847.104515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.792128 meters
#   Minimum depth: 842.557508 meters looking forward 200.000000 meters along route
#   Maximum depth: 846.933728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 792.557508 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.822828;
longitude = -118.677483;
duration = 403;
initialDepth = 789.722525;
finalDepth = 792.557508;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.366938
#   Actual altitude:          52.366938
#   Commanded vehicle depth:  792.557508 
#   Seafloor depth:           -844.924446
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.791789 meters
#   Minimum depth: 839.722525 meters looking forward 200.000000 meters along route
#   Maximum depth: 844.869433 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 789.722525 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.823482;
longitude = -118.678239;
duration = 403;
initialDepth = 785.170623;
finalDepth = 789.722525;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.799682
#   Actual altitude:          52.799682
#   Commanded vehicle depth:  789.722525 
#   Seafloor depth:           -842.522207
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.791452 meters
#   Minimum depth: 835.170623 meters looking forward 200.000000 meters along route
#   Maximum depth: 842.359154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 785.170623 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.824136;
longitude = -118.678995;
duration = 403;
initialDepth = 781.552935;
finalDepth = 785.170623;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.318578
#   Actual altitude:          54.318578
#   Commanded vehicle depth:  785.170623 
#   Seafloor depth:           -839.489201
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.791113 meters
#   Minimum depth: 831.552935 meters looking forward 200.000000 meters along route
#   Maximum depth: 839.410178 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 781.552935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.824790;
longitude = -118.679751;
duration = 403;
initialDepth = 777.720689;
finalDepth = 781.552935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.318578
#   Actual altitude:          54.318578
#   Commanded vehicle depth:  781.552935 
#   Seafloor depth:           -835.081985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.790776 meters
#   Minimum depth: 827.720689 meters looking forward 200.000000 meters along route
#   Maximum depth: 834.801110 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 777.720689 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.825444;
longitude = -118.680507;
duration = 403;
initialDepth = 775.137196;
finalDepth = 777.720689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5604960000001
#   Actual altitude:          53.5604960000001
#   Commanded vehicle depth:  777.720689 
#   Seafloor depth:           -831.281185
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.790439 meters
#   Minimum depth: 825.137196 meters looking forward 200.000000 meters along route
#   Maximum depth: 831.188694 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 775.137196 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.826098;
longitude = -118.681263;
duration = 403;
initialDepth = 769.401628;
finalDepth = 775.137196;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5604960000001
#   Actual altitude:          53.5604960000001
#   Commanded vehicle depth:  775.137196 
#   Seafloor depth:           -827.641650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.790100 meters
#   Minimum depth: 819.401628 meters looking forward 200.000000 meters along route
#   Maximum depth: 827.418930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 769.401628 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.826752;
longitude = -118.682019;
duration = 403;
initialDepth = 763.249288;
finalDepth = 769.401628;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.574435
#   Actual altitude:          55.574435
#   Commanded vehicle depth:  769.401628 
#   Seafloor depth:           -824.976063
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.789763 meters
#   Minimum depth: 813.249288 meters looking forward 200.000000 meters along route
#   Maximum depth: 824.811310 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 763.249288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.827406;
longitude = -118.682775;
duration = 403;
initialDepth = 757.646378;
finalDepth = 763.249288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.00492
#   Actual altitude:          56.00492
#   Commanded vehicle depth:  763.249288 
#   Seafloor depth:           -819.254208
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.789425 meters
#   Minimum depth: 807.646378 meters looking forward 200.000000 meters along route
#   Maximum depth: 818.960833 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 757.646378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.828060;
longitude = -118.683531;
duration = 403;
initialDepth = 750.930428;
finalDepth = 757.646378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.5437929999999
#   Actual altitude:          56.5437929999999
#   Commanded vehicle depth:  757.646378 
#   Seafloor depth:           -814.190171
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.789087 meters
#   Minimum depth: 800.930428 meters looking forward 200.000000 meters along route
#   Maximum depth: 813.935767 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 750.930428 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.828714;
longitude = -118.684287;
duration = 403;
initialDepth = 743.636303;
finalDepth = 750.930428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.556682
#   Actual altitude:          56.556682
#   Commanded vehicle depth:  750.930428 
#   Seafloor depth:           -807.487110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.788749 meters
#   Minimum depth: 793.636303 meters looking forward 200.000000 meters along route
#   Maximum depth: 807.155775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 743.636303 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.829368;
longitude = -118.685043;
duration = 403;
initialDepth = 737.509266;
finalDepth = 743.636303;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.871181
#   Actual altitude:          56.871181
#   Commanded vehicle depth:  743.636303 
#   Seafloor depth:           -800.507484
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.788412 meters
#   Minimum depth: 787.509266 meters looking forward 200.000000 meters along route
#   Maximum depth: 800.041788 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 737.509266 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.830022;
longitude = -118.685799;
duration = 403;
initialDepth = 730.845851;
finalDepth = 737.509266;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.871181
#   Actual altitude:          56.871181
#   Commanded vehicle depth:  737.509266 
#   Seafloor depth:           -793.551344
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.788074 meters
#   Minimum depth: 780.845851 meters looking forward 200.000000 meters along route
#   Maximum depth: 793.362712 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 730.845851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.830676;
longitude = -118.686555;
duration = 403;
initialDepth = 724.926608;
finalDepth = 730.845851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.285316
#   Actual altitude:          56.285316
#   Commanded vehicle depth:  730.845851 
#   Seafloor depth:           -787.131167
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.787736 meters
#   Minimum depth: 774.926608 meters looking forward 200.000000 meters along route
#   Maximum depth: 786.722341 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 724.926608 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.831330;
longitude = -118.687311;
duration = 403;
initialDepth = 718.091898;
finalDepth = 724.926608;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.285316
#   Actual altitude:          56.285316
#   Commanded vehicle depth:  724.926608 
#   Seafloor depth:           -780.669903
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.787399 meters
#   Minimum depth: 768.091898 meters looking forward 200.000000 meters along route
#   Maximum depth: 780.357233 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 718.091898 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.831984;
longitude = -118.688067;
duration = 403;
initialDepth = 711.823309;
finalDepth = 718.091898;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3843929999999
#   Actual altitude:          56.3843929999999
#   Commanded vehicle depth:  718.091898 
#   Seafloor depth:           -774.476291
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.787060 meters
#   Minimum depth: 761.823309 meters looking forward 200.000000 meters along route
#   Maximum depth: 773.993948 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 711.823309 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.832639;
longitude = -118.688823;
duration = 403;
initialDepth = 706.631498;
finalDepth = 711.823309;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3843929999999
#   Actual altitude:          56.3843929999999
#   Commanded vehicle depth:  711.823309 
#   Seafloor depth:           -767.964245
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.786723 meters
#   Minimum depth: 756.631498 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.684134 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 706.631498 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.833293;
longitude = -118.689579;
duration = 403;
initialDepth = 700.490609;
finalDepth = 706.631498;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.140936
#   Actual altitude:          56.140936
#   Commanded vehicle depth:  706.631498 
#   Seafloor depth:           -761.480707
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.68;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.786386 meters
#   Minimum depth: 750.490609 meters looking forward 200.000000 meters along route
#   Maximum depth: 761.071329 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 700.490609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.833947;
longitude = -118.690335;
duration = 403;
initialDepth = 694.985045;
finalDepth = 700.490609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.9902060000001
#   Actual altitude:          55.9902060000001
#   Commanded vehicle depth:  700.490609 
#   Seafloor depth:           -756.480815
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.786047 meters
#   Minimum depth: 744.985045 meters looking forward 200.000000 meters along route
#   Maximum depth: 756.142858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 694.985045 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.834601;
longitude = -118.691091;
duration = 403;
initialDepth = 691.900122;
finalDepth = 694.985045;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.9902060000001
#   Actual altitude:          55.9902060000001
#   Commanded vehicle depth:  694.985045 
#   Seafloor depth:           -750.104058
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.543283 meters
#   Minimum depth: 741.900122 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.596923 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 691.900122 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835255;
longitude = -118.691847;
duration = 406;
initialDepth = 691.654324;
finalDepth = 691.900122;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.119013
#   Actual altitude:          55.119013
#   Commanded vehicle depth:  691.900122 
#   Seafloor depth:           -744.886832
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.027799 meters
#   Minimum depth: 741.654324 meters looking forward 200.000000 meters along route
#   Maximum depth: 744.709662 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 691.654324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835914;
longitude = -118.692609;
duration = 400;
initialDepth = 691.654324;
finalDepth = 691.654324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.98671
#   Actual altitude:          52.98671
#   Commanded vehicle depth:  691.654324 
#   Seafloor depth:           -741.889789
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.425353 meters
#   Minimum depth: 741.654324 meters looking forward 200.000000 meters along route
#   Maximum depth: 743.918367 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 691.654324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836563;
longitude = -118.693359;
duration = 405;
initialDepth = 692.021492;
finalDepth = 691.654324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.3638460000001
#   Actual altitude:          50.3638460000001
#   Commanded vehicle depth:  691.654324 
#   Seafloor depth:           -742.018170
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.144379 meters
#   Minimum depth: 742.021492 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.726815 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 692.021492 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837221;
longitude = -118.694120;
duration = 400;
initialDepth = 694.158584;
finalDepth = 692.021492;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.918897
#   Actual altitude:          51.918897
#   Commanded vehicle depth:  692.021492 
#   Seafloor depth:           -743.940389
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.307425 meters
#   Minimum depth: 744.158584 meters looking forward 200.000000 meters along route
#   Maximum depth: 750.088425 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 694.158584 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837871;
longitude = -118.694871;
duration = 405;
initialDepth = 697.113003;
finalDepth = 694.158584;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.7212019999999
#   Actual altitude:          52.7212019999999
#   Commanded vehicle depth:  694.158584 
#   Seafloor depth:           -746.879786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.260956 meters
#   Minimum depth: 747.113003 meters looking forward 200.000000 meters along route
#   Maximum depth: 751.862307 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 697.113003 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838528;
longitude = -118.695631;
duration = 401;
initialDepth = 699.196490;
finalDepth = 697.113003;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9904759999999
#   Actual altitude:          52.9904759999999
#   Commanded vehicle depth:  697.113003 
#   Seafloor depth:           -750.103479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.189498 meters
#   Minimum depth: 749.196490 meters looking forward 200.000000 meters along route
#   Maximum depth: 751.862307 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 699.196490 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839179;
longitude = -118.696383;
duration = 404;
initialDepth = 698.767522;
finalDepth = 699.196490;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9904759999999
#   Actual altitude:          52.9904759999999
#   Commanded vehicle depth:  699.19649 
#   Seafloor depth:           -749.252463
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 100.377532 meters
#   Minimum depth: 748.767522 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.970066 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 698.767522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839836;
longitude = -118.697143;
duration = 401;
initialDepth = 698.767522;
finalDepth = 698.767522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.975236
#   Actual altitude:          50.975236
#   Commanded vehicle depth:  698.767522 
#   Seafloor depth:           -749.742758
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.071574 meters
#   Minimum depth: 748.767522 meters looking forward 200.000000 meters along route
#   Maximum depth: 759.234694 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 698.767522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840487;
longitude = -118.697896;
duration = 404;
initialDepth = 698.870734;
finalDepth = 698.767522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.975236
#   Actual altitude:          50.975236
#   Commanded vehicle depth:  698.767522 
#   Seafloor depth:           -749.466592
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 51
#   Segment length 101.093270 meters
#   Minimum depth: 748.870734 meters looking forward 200.000000 meters along route
#   Maximum depth: 782.498728 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 698.870734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841143;
longitude = -118.698654;
duration = 404;
initialDepth = 715.046893;
finalDepth = 698.870734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       60.407414
#   Actual altitude:          60.407414
#   Commanded vehicle depth:  698.870734 
#   Seafloor depth:           -759.278148
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 50
#   Segment length 126.165863 meters
#   Minimum depth: 765.046893 meters looking forward 200.000000 meters along route
#   Maximum depth: 782.877228 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 715.046893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841799;
longitude = -118.699412;
duration = 504;
# abortOnTimeout    = True; 
initialDepth = 723.123735;
finalDepth = 715.046893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.830335
#   Actual altitude:          67.830335
#   Commanded vehicle depth:  715.046893 
#   Seafloor depth:           -782.877228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 103.216398 meters
#   Minimum depth: 773.123735 meters looking forward 200.000000 meters along route
#   Maximum depth: 781.312805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 723.123735 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842901;
longitude = -118.699074;
duration = 412;
initialDepth = 721.743334;
finalDepth = 723.123735;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.830335
#   Actual altitude:          67.830335
#   Commanded vehicle depth:  723.123735 
#   Seafloor depth:           -778.139152
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 103.216336 meters
#   Minimum depth: 771.743334 meters looking forward 200.000000 meters along route
#   Maximum depth: 777.602686 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 721.743334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843803;
longitude = -118.698798;
duration = 412;
initialDepth = 714.183884;
finalDepth = 721.743334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.015417
#   Actual altitude:          55.015417
#   Commanded vehicle depth:  721.743334 
#   Seafloor depth:           -773.074282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 103.216271 meters
#   Minimum depth: 764.183884 meters looking forward 200.000000 meters along route
#   Maximum depth: 774.209549 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 714.183884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844704;
longitude = -118.698521;
duration = 412;
initialDepth = 706.583163;
finalDepth = 714.183884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.1396609999999
#   Actual altitude:          57.1396609999999
#   Commanded vehicle depth:  714.183884 
#   Seafloor depth:           -771.323545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 103.216209 meters
#   Minimum depth: 756.583163 meters looking forward 200.000000 meters along route
#   Maximum depth: 772.259556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 706.583163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845606;
longitude = -118.698245;
duration = 412;
initialDepth = 706.583163;
finalDepth = 706.583163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.080184
#   Actual altitude:          62.080184
#   Commanded vehicle depth:  706.583163 
#   Seafloor depth:           -768.663347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.25;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 50
#   Segment length 100.574474 meters
#   Minimum depth: 756.583163 meters looking forward 200.000000 meters along route
#   Maximum depth: 772.259556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 706.583163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846507;
longitude = -118.697968;
duration = 402;
initialDepth = 702.845468;
finalDepth = 706.583163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       65.122829
#   Actual altitude:          65.122829
#   Commanded vehicle depth:  706.583163 
#   Seafloor depth:           -771.705992
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 49
#   Segment length 89.060427 meters
#   Minimum depth: 752.845468 meters looking forward 200.000000 meters along route
#   Maximum depth: 772.259556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 702.845468 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847386;
longitude = -118.697699;
duration = 356;
# abortOnTimeout    = True; 
initialDepth = 672.316894;
finalDepth = 702.845468;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.387152
#   Actual altitude:          66.387152
#   Commanded vehicle depth:  702.845468 
#   Seafloor depth:           -769.232620
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 100.572777 meters
#   Minimum depth: 722.316894 meters looking forward 200.000000 meters along route
#   Maximum depth: 769.844975 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 672.316894 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847905;
longitude = -118.696965;
duration = 402;
initialDepth = 653.592461;
finalDepth = 672.316894;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.5310939999999
#   Actual altitude:          79.5310939999999
#   Commanded vehicle depth:  672.316894 
#   Seafloor depth:           -751.847988
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 100.862653 meters
#   Minimum depth: 703.592461 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.044979 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 653.592461 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848491;
longitude = -118.696135;
duration = 403;
initialDepth = 651.983544;
finalDepth = 653.592461;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       79.5310939999999
#   Actual altitude:          79.5310939999999
#   Commanded vehicle depth:  653.592461 
#   Seafloor depth:           -721.552682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 100.281624 meters
#   Minimum depth: 701.983544 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.986275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 651.983544 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849079;
longitude = -118.695303;
duration = 401;
initialDepth = 651.983544;
finalDepth = 651.983544;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.960221
#   Actual altitude:          67.960221
#   Commanded vehicle depth:  651.983544 
#   Seafloor depth:           -703.533275
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 102.717804 meters
#   Minimum depth: 701.983544 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.986275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 651.983544 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849663;
longitude = -118.694477;
duration = 410;
initialDepth = 653.436744;
finalDepth = 651.983544;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.8088779999999
#   Actual altitude:          69.8088779999999
#   Commanded vehicle depth:  651.983544 
#   Seafloor depth:           -721.792422
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 104.773219 meters
#   Minimum depth: 703.436744 meters looking forward 200.000000 meters along route
#   Maximum depth: 719.817261 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 653.436744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850262;
longitude = -118.693629;
duration = 419;
initialDepth = 647.433713;
finalDepth = 653.436744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.8088779999999
#   Actual altitude:          69.8088779999999
#   Commanded vehicle depth:  653.436744 
#   Seafloor depth:           -712.569108
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 49
#   Segment length 100.708472 meters
#   Minimum depth: 697.433713 meters looking forward 200.000000 meters along route
#   Maximum depth: 710.965494 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.433713 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850872;
longitude = -118.692765;
duration = 402;
initialDepth = 647.549483;
finalDepth = 647.433713;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       59.1323640000001
#   Actual altitude:          59.1323640000001
#   Commanded vehicle depth:  647.433713 
#   Seafloor depth:           -702.235971
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 48
#   Segment length 153.853499 meters
#   Minimum depth: 697.549483 meters looking forward 200.000000 meters along route
#   Maximum depth: 713.645410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.549483 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851459;
longitude = -118.691935;
duration = 615;
# abortOnTimeout    = True; 
initialDepth = 644.937522;
finalDepth = 647.549483;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.8022579999999
#   Actual altitude:          54.8022579999999
#   Commanded vehicle depth:  647.549483 
#   Seafloor depth:           -699.113052
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 48
#   Segment length 102.368378 meters
#   Minimum depth: 694.937522 meters looking forward 200.000000 meters along route
#   Maximum depth: 713.645410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 644.937522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852593;
longitude = -118.690978;
duration = 409;
initialDepth = 644.937522;
finalDepth = 644.937522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       67.598695
#   Actual altitude:          67.598695
#   Commanded vehicle depth:  644.937522 
#   Seafloor depth:           -712.536217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 47
#   Segment length 161.087495 meters
#   Minimum depth: 694.937522 meters looking forward 200.000000 meters along route
#   Maximum depth: 709.536308 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 644.937522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853348;
longitude = -118.690341;
duration = 644;
# abortOnTimeout    = True; 
initialDepth = 648.257718;
finalDepth = 644.937522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.598695
#   Actual altitude:          67.598695
#   Commanded vehicle depth:  644.937522 
#   Seafloor depth:           -696.172104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 101.150819 meters
#   Minimum depth: 698.257718 meters looking forward 200.000000 meters along route
#   Maximum depth: 709.536308 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 648.257718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854712;
longitude = -118.690939;
duration = 404;
initialDepth = 643.976167;
finalDepth = 648.257718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.5771550000001
#   Actual altitude:          59.5771550000001
#   Commanded vehicle depth:  648.257718 
#   Seafloor depth:           -707.834873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 101.150726 meters
#   Minimum depth: 693.976167 meters looking forward 200.000000 meters along route
#   Maximum depth: 707.661267 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 643.976167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855569;
longitude = -118.691315;
duration = 404;
initialDepth = 627.408682;
finalDepth = 643.976167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.5771550000001
#   Actual altitude:          59.5771550000001
#   Commanded vehicle depth:  643.976167 
#   Seafloor depth:           -698.049009
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 47
#   Segment length 103.439872 meters
#   Minimum depth: 677.408682 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.590364 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 627.408682 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856425;
longitude = -118.691690;
duration = 413;
initialDepth = 592.897138;
finalDepth = 627.408682;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       66.505735
#   Actual altitude:          66.505735
#   Commanded vehicle depth:  627.408682 
#   Seafloor depth:           -693.914417
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 46
#   Segment length 152.866018 meters
#   Minimum depth: 642.897138 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.957377 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 592.897138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857301;
longitude = -118.692074;
duration = 611;
# abortOnTimeout    = True; 
initialDepth = 589.065902;
finalDepth = 592.897138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       84.8129299999999
#   Actual altitude:          84.8129299999999
#   Commanded vehicle depth:  592.897138 
#   Seafloor depth:           -677.710068
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 46
#   Segment length 100.454625 meters
#   Minimum depth: 639.065902 meters looking forward 200.000000 meters along route
#   Maximum depth: 656.234092 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 589.065902 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858634;
longitude = -118.692494;
duration = 401;
initialDepth = 581.770304;
finalDepth = 589.065902;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       84.8129299999999
#   Actual altitude:          84.8129299999999
#   Commanded vehicle depth:  589.065902 
#   Seafloor depth:           -642.363856
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 45
#   Segment length 175.072001 meters
#   Minimum depth: 631.770304 meters looking forward 200.000000 meters along route
#   Maximum depth: 656.234092 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 581.770304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.859510;
longitude = -118.692770;
duration = 700;
# abortOnTimeout    = True; 
initialDepth = 581.770304;
finalDepth = 581.770304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.766805
#   Actual altitude:          72.766805
#   Commanded vehicle depth:  581.770304 
#   Seafloor depth:           -654.537109
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 101.290414 meters
#   Minimum depth: 631.770304 meters looking forward 200.000000 meters along route
#   Maximum depth: 643.337094 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 581.770304 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.861068;
longitude = -118.692468;
duration = 405;
initialDepth = 586.950440;
finalDepth = 581.770304;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.766805
#   Actual altitude:          72.766805
#   Commanded vehicle depth:  581.770304 
#   Seafloor depth:           -642.487645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 45
#   Segment length 104.487001 meters
#   Minimum depth: 636.950440 meters looking forward 200.000000 meters along route
#   Maximum depth: 656.323604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 586.950440 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.861970;
longitude = -118.692294;
duration = 417;
initialDepth = 592.398956;
finalDepth = 586.950440;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       60.717341
#   Actual altitude:          60.717341
#   Commanded vehicle depth:  586.95044 
#   Seafloor depth:           -640.608134
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 44
#   Segment length 103.601329 meters
#   Minimum depth: 642.398956 meters looking forward 200.000000 meters along route
#   Maximum depth: 668.680304 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 592.398956 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.862900;
longitude = -118.692114;
duration = 414;
# abortOnTimeout    = True; 
initialDepth = 607.406047;
finalDepth = 592.398956;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.570282
#   Actual altitude:          61.570282
#   Commanded vehicle depth:  592.398956 
#   Seafloor depth:           -653.969238
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 101.725379 meters
#   Minimum depth: 657.406047 meters looking forward 200.000000 meters along route
#   Maximum depth: 670.296161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 607.406047 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.863818;
longitude = -118.692320;
duration = 406;
initialDepth = 608.015128;
finalDepth = 607.406047;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.570282
#   Actual altitude:          61.570282
#   Commanded vehicle depth:  607.406047 
#   Seafloor depth:           -667.585088
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 101.725363 meters
#   Minimum depth: 658.015128 meters looking forward 200.000000 meters along route
#   Maximum depth: 670.296161 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 608.015128 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.864720;
longitude = -118.692521;
duration = 406;
initialDepth = 605.927694;
finalDepth = 608.015128;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.176956
#   Actual altitude:          62.176956
#   Commanded vehicle depth:  608.015128 
#   Seafloor depth:           -670.192084
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 44
#   Segment length 100.593251 meters
#   Minimum depth: 655.927694 meters looking forward 200.000000 meters along route
#   Maximum depth: 670.229997 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 605.927694 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.865621;
longitude = -118.692723;
duration = 402;
initialDepth = 606.155189;
finalDepth = 605.927694;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            1
#   Commanded altitude:       62.176956
#   Actual altitude:          62.176956
#   Commanded vehicle depth:  605.927694 
#   Seafloor depth:           -656.496260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 43
#   Segment length 143.496489 meters
#   Minimum depth: 656.155189 meters looking forward 200.000000 meters along route
#   Maximum depth: 668.385854 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 606.155189 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.866513;
longitude = -118.692923;
duration = 573;
# abortOnTimeout    = True; 
initialDepth = 603.027101;
finalDepth = 606.155189;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.681237
#   Actual altitude:          59.681237
#   Commanded vehicle depth:  606.155189 
#   Seafloor depth:           -665.836426
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 101.689122 meters
#   Minimum depth: 653.027101 meters looking forward 200.000000 meters along route
#   Maximum depth: 660.775961 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 603.027101 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.867785;
longitude = -118.693205;
duration = 406;
initialDepth = 591.013452;
finalDepth = 603.027101;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.681237
#   Actual altitude:          59.681237
#   Commanded vehicle depth:  603.027101 
#   Seafloor depth:           -655.996228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 101.689107 meters
#   Minimum depth: 641.013452 meters looking forward 200.000000 meters along route
#   Maximum depth: 655.782789 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 591.013452 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.868687;
longitude = -118.693405;
duration = 406;
initialDepth = 556.886216;
finalDepth = 591.013452;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.5052989999999
#   Actual altitude:          61.5052989999999
#   Commanded vehicle depth:  591.013452 
#   Seafloor depth:           -652.518751
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.90;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 101.689093 meters
#   Minimum depth: 606.886216 meters looking forward 200.000000 meters along route
#   Maximum depth: 652.044165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 556.886216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.869588;
longitude = -118.693604;
duration = 406;
initialDepth = 556.886216;
finalDepth = 556.886216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       89.217808
#   Actual altitude:          89.217808
#   Commanded vehicle depth:  556.886216 
#   Seafloor depth:           -646.104024
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 43
#   Segment length 101.273600 meters
#   Minimum depth: 606.886216 meters looking forward 200.000000 meters along route
#   Maximum depth: 643.407785 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 556.886216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.870490;
longitude = -118.693804;
duration = 405;
initialDepth = 564.945295;
finalDepth = 556.886216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       89.217808
#   Actual altitude:          89.217808
#   Commanded vehicle depth:  556.886216 
#   Seafloor depth:           -620.125305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 53.53;
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 78.853424 meters
#   Minimum depth: 614.945295 meters looking forward 200.000000 meters along route
#   Maximum depth: 671.949124 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 564.945295 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.871388;
longitude = -118.694003;
duration = 315;
# abortOnTimeout    = True; 
initialDepth = 586.074006;
finalDepth = 564.945295;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       76.6187610000001
#   Actual altitude:          76.6187610000001
#   Commanded vehicle depth:  564.945295 
#   Seafloor depth:           -641.564056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 102.089072 meters
#   Minimum depth: 641.564056 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.640211 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 586.074006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.871211;
longitude = -118.694829;
duration = 408;
initialDepth = 548.044065;
finalDepth = 586.074006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       85.9028620961986
#   Actual altitude:          85.9028620961986
#   Commanded vehicle depth:  586.074005903801 
#   Seafloor depth:           -671.976868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 42
#   Segment length 101.193254 meters
#   Minimum depth: 598.044065 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.640211 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 548.044065 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.870983;
longitude = -118.695897;
duration = 404;
initialDepth = 542.535319;
finalDepth = 548.044065;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       117.26765
#   Actual altitude:          100
#   Commanded vehicle depth:  548.044065 
#   Seafloor depth:           -665.311715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 41
#   Segment length 89.888541 meters
#   Minimum depth: 592.535319 meters looking forward 200.000000 meters along route
#   Maximum depth: 666.859365 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 542.535319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.870756;
longitude = -118.696957;
duration = 359;
# abortOnTimeout    = True; 
initialDepth = 540.878526;
finalDepth = 542.535319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       117.26765
#   Actual altitude:          100
#   Commanded vehicle depth:  542.535319 
#   Seafloor depth:           -596.937012
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440894 meters
#   Minimum depth: 590.878526 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.625859 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 540.878526 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.869949;
longitude = -118.696866;
duration = 401;
initialDepth = 540.878526;
finalDepth = 540.878526;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.401693
#   Actual altitude:          54.401693
#   Commanded vehicle depth:  540.878526 
#   Seafloor depth:           -591.978185
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440886 meters
#   Minimum depth: 590.878526 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.377591 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 540.878526 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.869048;
longitude = -118.696764;
duration = 401;
initialDepth = 543.953698;
finalDepth = 540.878526;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.996019
#   Actual altitude:          52.996019
#   Commanded vehicle depth:  540.878526 
#   Seafloor depth:           -593.874545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440878 meters
#   Minimum depth: 593.953698 meters looking forward 200.000000 meters along route
#   Maximum depth: 637.816012 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 543.953698 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.868146;
longitude = -118.696662;
duration = 401;
initialDepth = 564.780914;
finalDepth = 543.953698;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.057288
#   Actual altitude:          69.057288
#   Commanded vehicle depth:  543.953698 
#   Seafloor depth:           -613.010986
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440869 meters
#   Minimum depth: 614.780914 meters looking forward 200.000000 meters along route
#   Maximum depth: 651.742152 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 564.780914 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.867244;
longitude = -118.696559;
duration = 401;
initialDepth = 589.623691;
finalDepth = 564.780914;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.3923559999999
#   Actual altitude:          73.3923559999999
#   Commanded vehicle depth:  564.780914 
#   Seafloor depth:           -638.173270
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440861 meters
#   Minimum depth: 639.623691 meters looking forward 200.000000 meters along route
#   Maximum depth: 651.742152 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 589.623691 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.866343;
longitude = -118.696457;
duration = 401;
initialDepth = 566.075907;
finalDepth = 589.623691;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.3923559999999
#   Actual altitude:          73.3923559999999
#   Commanded vehicle depth:  589.623691 
#   Seafloor depth:           -651.505908
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440852 meters
#   Minimum depth: 616.075907 meters looking forward 200.000000 meters along route
#   Maximum depth: 651.672170 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 566.075907 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.865441;
longitude = -118.696355;
duration = 401;
initialDepth = 565.597552;
finalDepth = 566.075907;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.007531
#   Actual altitude:          73.007531
#   Commanded vehicle depth:  566.075907 
#   Seafloor depth:           -639.083438
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440845 meters
#   Minimum depth: 615.597552 meters looking forward 200.000000 meters along route
#   Maximum depth: 636.849772 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 565.597552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.864540;
longitude = -118.696253;
duration = 401;
initialDepth = 565.597552;
finalDepth = 565.597552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.007531
#   Actual altitude:          73.007531
#   Commanded vehicle depth:  565.597552 
#   Seafloor depth:           -618.737873
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440836 meters
#   Minimum depth: 615.597552 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.014238 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 565.597552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.863638;
longitude = -118.696151;
duration = 401;
initialDepth = 570.099507;
finalDepth = 565.597552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.594682
#   Actual altitude:          53.594682
#   Commanded vehicle depth:  565.597552 
#   Seafloor depth:           -619.192234
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.440828 meters
#   Minimum depth: 620.099507 meters looking forward 200.000000 meters along route
#   Maximum depth: 669.336306 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 570.099507 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.862736;
longitude = -118.696049;
duration = 401;
initialDepth = 597.012545;
finalDepth = 570.099507;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.679745
#   Actual altitude:          78.679745
#   Commanded vehicle depth:  570.099507 
#   Seafloor depth:           -648.779252
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 101.963835 meters
#   Minimum depth: 649.101178 meters looking forward 200.000000 meters along route
#   Maximum depth: 681.423272 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 597.012545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.861835;
longitude = -118.695947;
duration = 407;
initialDepth = 620.497511;
finalDepth = 597.012545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.679745
#   Actual altitude:          78.679745
#   Commanded vehicle depth:  597.012545268958 
#   Seafloor depth:           -669.871526
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 41
#   Segment length 100.867426 meters
#   Minimum depth: 670.497511 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.286383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 620.497511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.860919;
longitude = -118.695843;
duration = 403;
initialDepth = 590.230608;
finalDepth = 620.497511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.8589807310417
#   Actual altitude:          72.8589807310417
#   Commanded vehicle depth:  620.497511 
#   Seafloor depth:           -681.617251
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.72;
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 40
#   Segment length 152.900846 meters
#   Minimum depth: 640.230608 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.286383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 590.230608 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.860014;
longitude = -118.695741;
duration = 611;
# abortOnTimeout    = True; 
initialDepth = 578.261689;
finalDepth = 590.230608;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       106.837812
#   Actual altitude:          100
#   Commanded vehicle depth:  590.230608 
#   Seafloor depth:           -697.068420
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 39
#   Segment length 82.293081 meters
#   Minimum depth: 628.261689 meters looking forward 200.000000 meters along route
#   Maximum depth: 683.657479 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 578.261689 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.859707;
longitude = -118.697352;
duration = 329;
# abortOnTimeout    = True; 
initialDepth = 578.261689;
finalDepth = 578.261689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.837812
#   Actual altitude:          100
#   Commanded vehicle depth:  578.261689 
#   Seafloor depth:           -638.893539
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 102.853148 meters
#   Minimum depth: 628.261689 meters looking forward 200.000000 meters along route
#   Maximum depth: 643.546383 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 578.261689 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.859130;
longitude = -118.697911;
duration = 411;
initialDepth = 580.847207;
finalDepth = 578.261689;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.63185
#   Actual altitude:          60.63185
#   Commanded vehicle depth:  578.261689 
#   Seafloor depth:           -630.250693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 102.853509 meters
#   Minimum depth: 630.847207 meters looking forward 200.000000 meters along route
#   Maximum depth: 656.863769 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 580.847207 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858409;
longitude = -118.698610;
duration = 411;
initialDepth = 591.926917;
finalDepth = 580.847207;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.441061
#   Actual altitude:          60.441061
#   Commanded vehicle depth:  580.847207 
#   Seafloor depth:           -641.288268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 102.853869 meters
#   Minimum depth: 641.926917 meters looking forward 200.000000 meters along route
#   Maximum depth: 680.857029 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 591.926917 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857687;
longitude = -118.699308;
duration = 411;
initialDepth = 610.642948;
finalDepth = 591.926917;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.42709
#   Actual altitude:          65.42709
#   Commanded vehicle depth:  591.926917 
#   Seafloor depth:           -657.354007
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 102.854230 meters
#   Minimum depth: 660.642948 meters looking forward 200.000000 meters along route
#   Maximum depth: 694.915808 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.642948 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856966;
longitude = -118.700007;
duration = 411;
initialDepth = 632.402718;
finalDepth = 610.642948;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.377977
#   Actual altitude:          70.377977
#   Commanded vehicle depth:  610.642948 
#   Seafloor depth:           -681.020925
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.019509 meters
#   Minimum depth: 682.402718 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.189894 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 632.402718 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856245;
longitude = -118.700706;
duration = 412;
initialDepth = 640.899078;
finalDepth = 632.402718;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.377977
#   Actual altitude:          70.377977
#   Commanded vehicle depth:  632.402718 
#   Seafloor depth:           -694.921444
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.344674 meters
#   Minimum depth: 690.899078 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.218768 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 640.899078 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855522;
longitude = -118.701406;
duration = 413;
initialDepth = 638.429858;
finalDepth = 640.899078;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.5187259999999
#   Actual altitude:          62.5187259999999
#   Commanded vehicle depth:  640.899078 
#   Seafloor depth:           -697.190582
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.345038 meters
#   Minimum depth: 688.429858 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.215774 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 638.429858 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854798;
longitude = -118.702108;
duration = 413;
initialDepth = 634.503804;
finalDepth = 638.429858;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.2915039999999
#   Actual altitude:          56.2915039999999
#   Commanded vehicle depth:  638.429858 
#   Seafloor depth:           -690.883312
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.345403 meters
#   Minimum depth: 684.503804 meters looking forward 200.000000 meters along route
#   Maximum depth: 690.712464 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 634.503804 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854073;
longitude = -118.702810;
duration = 413;
initialDepth = 627.126670;
finalDepth = 634.503804;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.886117
#   Actual altitude:          53.886117
#   Commanded vehicle depth:  634.503804 
#   Seafloor depth:           -688.389921
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.33;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.345766 meters
#   Minimum depth: 677.126670 meters looking forward 200.000000 meters along route
#   Maximum depth: 688.042237 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 627.126670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853348;
longitude = -118.703512;
duration = 413;
initialDepth = 627.126670;
finalDepth = 627.126670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.33758
#   Actual altitude:          57.33758
#   Commanded vehicle depth:  627.12667 
#   Seafloor depth:           -684.464250
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 103.346131 meters
#   Minimum depth: 677.126670 meters looking forward 200.000000 meters along route
#   Maximum depth: 684.431673 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 627.126670 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852623;
longitude = -118.704214;
duration = 413;
initialDepth = 627.461270;
finalDepth = 627.126670;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.33758
#   Actual altitude:          57.33758
#   Commanded vehicle depth:  627.12667 
#   Seafloor depth:           -677.389564
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 100.243187 meters
#   Minimum depth: 677.461270 meters looking forward 200.000000 meters along route
#   Maximum depth: 684.243352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 627.461270 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851899;
longitude = -118.704916;
duration = 400;
initialDepth = 630.123205;
finalDepth = 627.461270;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.396384
#   Actual altitude:          56.396384
#   Commanded vehicle depth:  627.46127 
#   Seafloor depth:           -683.857654
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 39
#   Segment length 101.220230 meters
#   Minimum depth: 680.123205 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.324410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 630.123205 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851196;
longitude = -118.705596;
duration = 404;
initialDepth = 631.217654;
finalDepth = 630.123205;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       56.396384
#   Actual altitude:          56.396384
#   Commanded vehicle depth:  630.123205 
#   Seafloor depth:           -680.611647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.84;
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 38
#   Segment length 151.984514 meters
#   Minimum depth: 681.217654 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.929214 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 631.217654 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850486;
longitude = -118.706284;
duration = 607;
# abortOnTimeout    = True; 
initialDepth = 633.911662;
finalDepth = 631.217654;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.71156
#   Actual altitude:          55.71156
#   Commanded vehicle depth:  631.217654 
#   Seafloor depth:           -686.929214
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 37
#   Segment length 87.682445 meters
#   Minimum depth: 683.911662 meters looking forward 200.000000 meters along route
#   Maximum depth: 684.966670 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 633.911662 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849607;
longitude = -118.705024;
duration = 350;
# abortOnTimeout    = True; 
initialDepth = 626.015048;
finalDepth = 633.911662;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.71156
#   Actual altitude:          55.71156
#   Commanded vehicle depth:  633.911662 
#   Seafloor depth:           -684.478027
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.085515 meters
#   Minimum depth: 676.015048 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.046698 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 626.015048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850223;
longitude = -118.704430;
duration = 400;
initialDepth = 626.015048;
finalDepth = 626.015048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.376973
#   Actual altitude:          58.376973
#   Commanded vehicle depth:  626.015048 
#   Seafloor depth:           -684.392021
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.731233 meters
#   Minimum depth: 676.015048 meters looking forward 200.000000 meters along route
#   Maximum depth: 692.385932 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 626.015048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850925;
longitude = -118.703751;
duration = 410;
initialDepth = 626.102086;
finalDepth = 626.015048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.376973
#   Actual altitude:          58.376973
#   Commanded vehicle depth:  626.015048 
#   Seafloor depth:           -676.069567
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.730874 meters
#   Minimum depth: 676.102086 meters looking forward 200.000000 meters along route
#   Maximum depth: 693.962265 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 626.102086 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851647;
longitude = -118.703054;
duration = 410;
initialDepth = 642.608088;
finalDepth = 626.102086;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.359371
#   Actual altitude:          66.359371
#   Commanded vehicle depth:  626.102086 
#   Seafloor depth:           -692.461457
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.730515 meters
#   Minimum depth: 692.608088 meters looking forward 200.000000 meters along route
#   Maximum depth: 694.940557 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 642.608088 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852368;
longitude = -118.702358;
duration = 410;
initialDepth = 644.068021;
finalDepth = 642.608088;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.359371
#   Actual altitude:          66.359371
#   Commanded vehicle depth:  642.608088 
#   Seafloor depth:           -694.026498
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.730156 meters
#   Minimum depth: 694.068021 meters looking forward 200.000000 meters along route
#   Maximum depth: 695.842654 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 644.068021 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853089;
longitude = -118.701661;
duration = 410;
initialDepth = 633.507052;
finalDepth = 644.068021;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.41841
#   Actual altitude:          51.41841
#   Commanded vehicle depth:  644.068021 
#   Seafloor depth:           -694.964513
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.85;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 102.729798 meters
#   Minimum depth: 683.507052 meters looking forward 200.000000 meters along route
#   Maximum depth: 695.877706 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 633.507052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853810;
longitude = -118.700965;
duration = 410;
initialDepth = 633.507052;
finalDepth = 633.507052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.3549499999999
#   Actual altitude:          62.3549499999999
#   Commanded vehicle depth:  633.507052 
#   Seafloor depth:           -695.862002
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 103.076503 meters
#   Minimum depth: 683.507052 meters looking forward 200.000000 meters along route
#   Maximum depth: 695.877706 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 633.507052 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854532;
longitude = -118.700268;
duration = 412;
initialDepth = 628.876173;
finalDepth = 633.507052;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.3549499999999
#   Actual altitude:          62.3549499999999
#   Commanded vehicle depth:  633.507052 
#   Seafloor depth:           -694.485017
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 103.538441 meters
#   Minimum depth: 678.876173 meters looking forward 200.000000 meters along route
#   Maximum depth: 694.254861 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 628.876173 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855255;
longitude = -118.699570;
duration = 414;
initialDepth = 610.972830;
finalDepth = 628.876173;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.9779649999999
#   Actual altitude:          60.9779649999999
#   Commanded vehicle depth:  628.876173 
#   Seafloor depth:           -689.018896
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 103.538078 meters
#   Minimum depth: 660.972830 meters looking forward 200.000000 meters along route
#   Maximum depth: 688.633939 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.972830 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855982;
longitude = -118.698868;
duration = 414;
initialDepth = 596.593397;
finalDepth = 610.972830;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.728476
#   Actual altitude:          67.728476
#   Commanded vehicle depth:  610.97283 
#   Seafloor depth:           -678.701306
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 103.537713 meters
#   Minimum depth: 646.593397 meters looking forward 200.000000 meters along route
#   Maximum depth: 677.353328 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 596.593397 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856709;
longitude = -118.698166;
duration = 414;
initialDepth = 585.045167;
finalDepth = 596.593397;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.728476
#   Actual altitude:          67.728476
#   Commanded vehicle depth:  596.593397 
#   Seafloor depth:           -660.652295
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.64;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 103.537348 meters
#   Minimum depth: 635.045167 meters looking forward 200.000000 meters along route
#   Maximum depth: 659.479925 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 585.045167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857436;
longitude = -118.697463;
duration = 414;
initialDepth = 585.045167;
finalDepth = 585.045167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.058898
#   Actual altitude:          64.058898
#   Commanded vehicle depth:  585.045167 
#   Seafloor depth:           -646.201531
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 37
#   Segment length 100.365392 meters
#   Minimum depth: 635.045167 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.276186 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 585.045167 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858163;
longitude = -118.696761;
duration = 401;
initialDepth = 611.937992;
finalDepth = 585.045167;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.1563640000001
#   Actual altitude:          61.1563640000001
#   Commanded vehicle depth:  585.045167 
#   Seafloor depth:           -636.086105
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.69;
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 36
#   Segment length 150.037682 meters
#   Minimum depth: 664.652962 meters looking forward 200.000000 meters along route
#   Maximum depth: 728.638933 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 611.937992 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858868;
longitude = -118.696081;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 606.512126;
finalDepth = 611.937992;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       75.7872117459607
#   Actual altitude:          75.7872117459607
#   Commanded vehicle depth:  611.937992254039 
#   Seafloor depth:           -687.725204
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 45.47;
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 114.016293 meters
#   Minimum depth: 656.512126 meters looking forward 200.000000 meters along route
#   Maximum depth: 729.035172 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 606.512126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858029;
longitude = -118.694809;
duration = 456;
# abortOnTimeout    = True; 
initialDepth = 598.051650;
finalDepth = 606.512126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       122.523046
#   Actual altitude:          100
#   Commanded vehicle depth:  606.512126 
#   Seafloor depth:           -729.035172
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 100.054366 meters
#   Minimum depth: 648.051650 meters looking forward 200.000000 meters along route
#   Maximum depth: 725.357340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 598.051650 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857223;
longitude = -118.695573;
duration = 400;
initialDepth = 598.297126;
finalDepth = 598.051650;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       122.523046
#   Actual altitude:          100
#   Commanded vehicle depth:  598.05165 
#   Seafloor depth:           -648.051650
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.002567 meters
#   Minimum depth: 648.297126 meters looking forward 200.000000 meters along route
#   Maximum depth: 662.096479 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 598.297126 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856515;
longitude = -118.696244;
duration = 408;
initialDepth = 603.757954;
finalDepth = 598.297126;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.009471
#   Actual altitude:          55.009471
#   Commanded vehicle depth:  598.297126 
#   Seafloor depth:           -653.306597
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 103.980241 meters
#   Minimum depth: 653.757954 meters looking forward 200.000000 meters along route
#   Maximum depth: 677.730877 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 603.757954 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855794;
longitude = -118.696928;
duration = 415;
initialDepth = 612.892155;
finalDepth = 603.757954;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.418638
#   Actual altitude:          58.418638
#   Commanded vehicle depth:  603.757954 
#   Seafloor depth:           -662.176592
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 100.025938 meters
#   Minimum depth: 662.892155 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.648004 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 612.892155 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855059;
longitude = -118.697626;
duration = 400;
initialDepth = 628.864980;
finalDepth = 612.892155;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1970700000001
#   Actual altitude:          65.1970700000001
#   Commanded vehicle depth:  612.892155 
#   Seafloor depth:           -678.089225
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.003611 meters
#   Minimum depth: 678.864980 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.773830 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 628.864980 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854351;
longitude = -118.698296;
duration = 408;
initialDepth = 635.864993;
finalDepth = 628.864980;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1970700000001
#   Actual altitude:          65.1970700000001
#   Commanded vehicle depth:  628.86498 
#   Seafloor depth:           -687.726347
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.003960 meters
#   Minimum depth: 685.864993 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.773830 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 635.864993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853630;
longitude = -118.698980;
duration = 408;
initialDepth = 635.864993;
finalDepth = 635.864993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.8613670000001
#   Actual altitude:          58.8613670000001
#   Commanded vehicle depth:  635.864993 
#   Seafloor depth:           -686.046040
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.004308 meters
#   Minimum depth: 685.864993 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.604718 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 635.864993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852909;
longitude = -118.699664;
duration = 408;
initialDepth = 635.926281;
finalDepth = 635.864993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.610494
#   Actual altitude:          50.610494
#   Commanded vehicle depth:  635.864993 
#   Seafloor depth:           -686.475487
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.004657 meters
#   Minimum depth: 685.926281 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.701855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 635.926281 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852188;
longitude = -118.700348;
duration = 408;
initialDepth = 630.989176;
finalDepth = 635.926281;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.765262
#   Actual altitude:          50.765262
#   Commanded vehicle depth:  635.926281 
#   Seafloor depth:           -686.691543
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.005005 meters
#   Minimum depth: 680.989176 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.701855 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 630.989176 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851466;
longitude = -118.701032;
duration = 408;
initialDepth = 630.140970;
finalDepth = 630.989176;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.915723
#   Actual altitude:          54.915723
#   Commanded vehicle depth:  630.989176 
#   Seafloor depth:           -685.904899
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.005352 meters
#   Minimum depth: 680.140970 meters looking forward 200.000000 meters along route
#   Maximum depth: 685.706042 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 630.140970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850745;
longitude = -118.701716;
duration = 408;
initialDepth = 630.140970;
finalDepth = 630.140970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.915723
#   Actual altitude:          54.915723
#   Commanded vehicle depth:  630.14097 
#   Seafloor depth:           -680.863667
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.005702 meters
#   Minimum depth: 680.140970 meters looking forward 200.000000 meters along route
#   Maximum depth: 688.065344 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 630.140970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850024;
longitude = -118.702400;
duration = 408;
initialDepth = 631.150210;
finalDepth = 630.140970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.833888
#   Actual altitude:          50.833888
#   Commanded vehicle depth:  630.14097 
#   Seafloor depth:           -680.974858
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.006049 meters
#   Minimum depth: 681.150210 meters looking forward 200.000000 meters along route
#   Maximum depth: 698.249005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 631.150210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849302;
longitude = -118.703084;
duration = 408;
initialDepth = 638.788541;
finalDepth = 631.150210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.970376
#   Actual altitude:          56.970376
#   Commanded vehicle depth:  631.15021 
#   Seafloor depth:           -688.120586
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.006398 meters
#   Minimum depth: 688.788541 meters looking forward 200.000000 meters along route
#   Maximum depth: 712.061308 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 638.788541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848581;
longitude = -118.703768;
duration = 408;
initialDepth = 647.617658;
finalDepth = 638.788541;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.302083
#   Actual altitude:          58.302083
#   Commanded vehicle depth:  638.788541 
#   Seafloor depth:           -697.090624
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 35
#   Segment length 102.373698 meters
#   Minimum depth: 697.617658 meters looking forward 200.000000 meters along route
#   Maximum depth: 732.128558 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.617658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847860;
longitude = -118.704452;
duration = 409;
initialDepth = 675.048607;
finalDepth = 647.617658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       65.276972
#   Actual altitude:          65.276972
#   Commanded vehicle depth:  647.617658 
#   Seafloor depth:           -712.894630
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 34
#   Segment length 150.050696 meters
#   Minimum depth: 726.015988 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.987829 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 675.048607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847136;
longitude = -118.705138;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 677.571033;
finalDepth = 675.048607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       65.276972
#   Actual altitude:          65.276972
#   Commanded vehicle depth:  675.04860721528 
#   Seafloor depth:           -732.346878
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 33
#   Segment length 112.642687 meters
#   Minimum depth: 727.571033 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.987829 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 677.571033 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846297;
longitude = -118.703866;
duration = 450;
# abortOnTimeout    = True; 
initialDepth = 661.373332;
finalDepth = 677.571033;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.360653
#   Actual altitude:          58.360653
#   Commanded vehicle depth:  677.571033 
#   Seafloor depth:           -735.931686
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.002890 meters
#   Minimum depth: 711.373332 meters looking forward 200.000000 meters along route
#   Maximum depth: 734.790951 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 661.373332 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847094;
longitude = -118.703111;
duration = 408;
initialDepth = 652.244747;
finalDepth = 661.373332;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.033671
#   Actual altitude:          66.033671
#   Commanded vehicle depth:  661.373332 
#   Seafloor depth:           -727.407003
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.002542 meters
#   Minimum depth: 702.244747 meters looking forward 200.000000 meters along route
#   Maximum depth: 727.138234 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 652.244747 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847815;
longitude = -118.702427;
duration = 408;
initialDepth = 647.447321;
finalDepth = 652.244747;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.033671
#   Actual altitude:          66.033671
#   Commanded vehicle depth:  652.244747 
#   Seafloor depth:           -711.300046
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.002194 meters
#   Minimum depth: 697.447321 meters looking forward 200.000000 meters along route
#   Maximum depth: 710.602607 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.447321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848536;
longitude = -118.701743;
duration = 408;
initialDepth = 647.447321;
finalDepth = 647.447321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.055299
#   Actual altitude:          59.055299
#   Commanded vehicle depth:  647.447321 
#   Seafloor depth:           -701.502037
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.001846 meters
#   Minimum depth: 697.447321 meters looking forward 200.000000 meters along route
#   Maximum depth: 708.641665 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.447321 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849257;
longitude = -118.701059;
duration = 408;
initialDepth = 650.313766;
finalDepth = 647.447321;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.054716
#   Actual altitude:          54.054716
#   Commanded vehicle depth:  647.447321 
#   Seafloor depth:           -699.734230
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.001497 meters
#   Minimum depth: 700.313766 meters looking forward 200.000000 meters along route
#   Maximum depth: 708.641665 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 650.313766 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849979;
longitude = -118.700375;
duration = 408;
initialDepth = 655.601839;
finalDepth = 650.313766;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.754192
#   Actual altitude:          57.754192
#   Commanded vehicle depth:  650.313766 
#   Seafloor depth:           -708.067958
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.001149 meters
#   Minimum depth: 705.601839 meters looking forward 200.000000 meters along route
#   Maximum depth: 714.660727 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 655.601839 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850700;
longitude = -118.699691;
duration = 408;
initialDepth = 648.502529;
finalDepth = 655.601839;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.754192
#   Actual altitude:          57.754192
#   Commanded vehicle depth:  655.601839 
#   Seafloor depth:           -707.350991
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.000801 meters
#   Minimum depth: 698.502529 meters looking forward 200.000000 meters along route
#   Maximum depth: 714.660727 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 648.502529 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851421;
longitude = -118.699008;
duration = 408;
initialDepth = 640.127896;
finalDepth = 648.502529;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.6462310000001
#   Actual altitude:          63.6462310000001
#   Commanded vehicle depth:  648.502529 
#   Seafloor depth:           -712.148760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.000453 meters
#   Minimum depth: 690.127896 meters looking forward 200.000000 meters along route
#   Maximum depth: 711.603556 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 640.127896 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852142;
longitude = -118.698324;
duration = 408;
initialDepth = 638.733893;
finalDepth = 640.127896;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.6462310000001
#   Actual altitude:          63.6462310000001
#   Commanded vehicle depth:  640.127896 
#   Seafloor depth:           -698.423792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 102.000105 meters
#   Minimum depth: 688.733893 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.636977 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 638.733893 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852864;
longitude = -118.697640;
duration = 408;
initialDepth = 620.345023;
finalDepth = 638.733893;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.2958960000001
#   Actual altitude:          58.2958960000001
#   Commanded vehicle depth:  638.733893 
#   Seafloor depth:           -689.626354
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.999756 meters
#   Minimum depth: 670.345023 meters looking forward 200.000000 meters along route
#   Maximum depth: 689.269454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 620.345023 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853585;
longitude = -118.696956;
duration = 407;
initialDepth = 610.891061;
finalDepth = 620.345023;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.276372
#   Actual altitude:          68.276372
#   Commanded vehicle depth:  620.345023 
#   Seafloor depth:           -688.621395
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.999409 meters
#   Minimum depth: 660.891061 meters looking forward 200.000000 meters along route
#   Maximum depth: 688.618875 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.891061 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854306;
longitude = -118.696272;
duration = 407;
initialDepth = 602.982712;
finalDepth = 610.891061;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.276372
#   Actual altitude:          68.276372
#   Commanded vehicle depth:  610.891061 
#   Seafloor depth:           -670.250770
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.999060 meters
#   Minimum depth: 652.982712 meters looking forward 200.000000 meters along route
#   Maximum depth: 670.830277 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 602.982712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855028;
longitude = -118.695588;
duration = 407;
initialDepth = 602.982712;
finalDepth = 602.982712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.359709
#   Actual altitude:          59.359709
#   Commanded vehicle depth:  602.982712 
#   Seafloor depth:           -660.779560
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.998712 meters
#   Minimum depth: 652.982712 meters looking forward 200.000000 meters along route
#   Maximum depth: 731.494454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 602.982712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855749;
longitude = -118.694904;
duration = 407;
initialDepth = 630.313184;
finalDepth = 602.982712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.865102
#   Actual altitude:          69.865102
#   Commanded vehicle depth:  602.982712 
#   Seafloor depth:           -672.847814
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 33
#   Segment length 101.792607 meters
#   Minimum depth: 682.843500 meters looking forward 200.000000 meters along route
#   Maximum depth: 733.830999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 630.313184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856470;
longitude = -118.694220;
duration = 407;
initialDepth = 657.588430;
finalDepth = 630.313184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       101.243508978797
#   Actual altitude:          100
#   Commanded vehicle depth:  630.313184021203 
#   Seafloor depth:           -731.556693
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 32
#   Segment length 149.966762 meters
#   Minimum depth: 715.144004 meters looking forward 200.000000 meters along route
#   Maximum depth: 733.407753 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 657.588430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857190;
longitude = -118.693538;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 663.846863;
finalDepth = 657.588430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       101.243508978797
#   Actual altitude:          100
#   Commanded vehicle depth:  657.588430375086 
#   Seafloor depth:           -730.341660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 31
#   Segment length 110.645674 meters
#   Minimum depth: 713.846863 meters looking forward 200.000000 meters along route
#   Maximum depth: 734.965030 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 663.846863 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856351;
longitude = -118.692267;
duration = 442;
# abortOnTimeout    = True; 
initialDepth = 671.810143;
finalDepth = 663.846863;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.7532296249141
#   Actual altitude:          72.7532296249141
#   Commanded vehicle depth:  663.846863 
#   Seafloor depth:           -713.846863
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 101.999072 meters
#   Minimum depth: 721.810143 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.071806 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 671.810143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855569;
longitude = -118.693009;
duration = 407;
initialDepth = 646.748504;
finalDepth = 671.810143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.3397649999999
#   Actual altitude:          63.3397649999999
#   Commanded vehicle depth:  671.810143 
#   Seafloor depth:           -735.149908
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 103.327781 meters
#   Minimum depth: 696.748504 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.071806 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 646.748504 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854847;
longitude = -118.693693;
duration = 413;
initialDepth = 634.915781;
finalDepth = 646.748504;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.238877
#   Actual altitude:          83.238877
#   Commanded vehicle depth:  646.748504 
#   Seafloor depth:           -729.987381
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.671407 meters
#   Minimum depth: 684.915781 meters looking forward 200.000000 meters along route
#   Maximum depth: 727.845559 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 634.915781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854117;
longitude = -118.694385;
duration = 402;
initialDepth = 634.915781;
finalDepth = 634.915781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.238877
#   Actual altitude:          83.238877
#   Commanded vehicle depth:  634.915781 
#   Seafloor depth:           -696.528760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 102.000117 meters
#   Minimum depth: 684.915781 meters looking forward 200.000000 meters along route
#   Maximum depth: 731.349285 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 634.915781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853405;
longitude = -118.695060;
duration = 408;
initialDepth = 639.331199;
finalDepth = 634.915781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.612979
#   Actual altitude:          61.612979
#   Commanded vehicle depth:  634.915781 
#   Seafloor depth:           -686.814201
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 103.387923 meters
#   Minimum depth: 689.331199 meters looking forward 200.000000 meters along route
#   Maximum depth: 741.783943 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 639.331199 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852683;
longitude = -118.695744;
duration = 413;
initialDepth = 667.033909;
finalDepth = 639.331199;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.360098
#   Actual altitude:          92.360098
#   Commanded vehicle depth:  639.331199 
#   Seafloor depth:           -731.691297
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.613353 meters
#   Minimum depth: 732.747391 meters looking forward 200.000000 meters along route
#   Maximum depth: 750.221085 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 667.033909 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851952;
longitude = -118.696437;
duration = 402;
initialDepth = 692.337835;
finalDepth = 667.033909;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       92.360098
#   Actual altitude:          92.360098
#   Commanded vehicle depth:  667.033908980119 
#   Seafloor depth:           -741.888467
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 102.001161 meters
#   Minimum depth: 742.337835 meters looking forward 200.000000 meters along route
#   Maximum depth: 756.084936 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 692.337835 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851241;
longitude = -118.697112;
duration = 408;
initialDepth = 700.934419;
finalDepth = 692.337835;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       74.8545580198812
#   Actual altitude:          74.8545580198812
#   Commanded vehicle depth:  692.337835 
#   Seafloor depth:           -750.464377
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 44.91;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 103.448067 meters
#   Minimum depth: 750.934419 meters looking forward 200.000000 meters along route
#   Maximum depth: 760.915900 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 700.934419 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850520;
longitude = -118.697796;
duration = 413;
initialDepth = 706.477380;
finalDepth = 700.934419;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.126542
#   Actual altitude:          58.126542
#   Commanded vehicle depth:  700.934419 
#   Seafloor depth:           -756.146929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.555299 meters
#   Minimum depth: 756.477380 meters looking forward 200.000000 meters along route
#   Maximum depth: 766.741717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 706.477380 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849788;
longitude = -118.698490;
duration = 402;
initialDepth = 705.498252;
finalDepth = 706.477380;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.21251
#   Actual altitude:          55.21251
#   Commanded vehicle depth:  706.47738 
#   Seafloor depth:           -761.037007
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 102.002205 meters
#   Minimum depth: 755.498252 meters looking forward 200.000000 meters along route
#   Maximum depth: 766.741717 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 705.498252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849077;
longitude = -118.699164;
duration = 408;
initialDepth = 705.498252;
finalDepth = 705.498252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.263007
#   Actual altitude:          56.263007
#   Commanded vehicle depth:  705.498252 
#   Seafloor depth:           -761.761259
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 103.508212 meters
#   Minimum depth: 755.498252 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.858022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 705.498252 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848356;
longitude = -118.699848;
duration = 414;
initialDepth = 694.419124;
finalDepth = 705.498252;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.900347
#   Actual altitude:          56.900347
#   Commanded vehicle depth:  705.498252 
#   Seafloor depth:           -762.398599
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 100.497243 meters
#   Minimum depth: 744.419124 meters looking forward 200.000000 meters along route
#   Maximum depth: 768.880454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 694.419124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847624;
longitude = -118.700542;
duration = 401;
initialDepth = 694.419124;
finalDepth = 694.419124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.113348
#   Actual altitude:          73.113348
#   Commanded vehicle depth:  694.419124 
#   Seafloor depth:           -767.532472
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 102.003249 meters
#   Minimum depth: 744.419124 meters looking forward 200.000000 meters along route
#   Maximum depth: 768.880454 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 694.419124 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846913;
longitude = -118.701215;
duration = 408;
initialDepth = 697.159451;
finalDepth = 694.419124;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.113348
#   Actual altitude:          73.113348
#   Commanded vehicle depth:  694.419124 
#   Seafloor depth:           -746.568449
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.87;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 31
#   Segment length 103.789920 meters
#   Minimum depth: 747.159451 meters looking forward 200.000000 meters along route
#   Maximum depth: 763.185270 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 697.159451 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846192;
longitude = -118.701899;
duration = 415;
initialDepth = 710.893621;
finalDepth = 697.159451;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.512085
#   Actual altitude:          59.512085
#   Commanded vehicle depth:  697.159451 
#   Seafloor depth:           -756.671536
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 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 149.979761 meters
#   Minimum depth: 760.893621 meters looking forward 200.000000 meters along route
#   Maximum depth: 782.988992 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 710.893621 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845458;
longitude = -118.702595;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 731.052732;
finalDepth = 710.893621;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.512085
#   Actual altitude:          59.512085
#   Commanded vehicle depth:  710.893621 
#   Seafloor depth:           -762.574356
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 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 114.071080 meters
#   Minimum depth: 781.052732 meters looking forward 200.000000 meters along route
#   Maximum depth: 783.012404 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 731.052732 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844619;
longitude = -118.701324;
duration = 456;
# abortOnTimeout    = True; 
initialDepth = 730.943127;
finalDepth = 731.052732;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.947909
#   Actual altitude:          51.947909
#   Commanded vehicle depth:  731.052732 
#   Seafloor depth:           -783.000641
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.010951 meters
#   Minimum depth: 780.943127 meters looking forward 200.000000 meters along route
#   Maximum depth: 782.917592 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 730.943127 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845426;
longitude = -118.700559;
duration = 408;
initialDepth = 726.552285;
finalDepth = 730.943127;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.947909
#   Actual altitude:          51.947909
#   Commanded vehicle depth:  730.943127 
#   Seafloor depth:           -782.035748
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.010604 meters
#   Minimum depth: 776.552285 meters looking forward 200.000000 meters along route
#   Maximum depth: 782.047775 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 726.552285 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846147;
longitude = -118.699875;
duration = 408;
initialDepth = 722.508330;
finalDepth = 726.552285;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.346675
#   Actual altitude:          54.346675
#   Commanded vehicle depth:  726.552285 
#   Seafloor depth:           -780.898960
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.010255 meters
#   Minimum depth: 772.508330 meters looking forward 200.000000 meters along route
#   Maximum depth: 780.845934 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 722.508330 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846868;
longitude = -118.699191;
duration = 408;
initialDepth = 718.803554;
finalDepth = 722.508330;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.346675
#   Actual altitude:          54.346675
#   Commanded vehicle depth:  722.50833 
#   Seafloor depth:           -776.551227
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.009907 meters
#   Minimum depth: 768.803554 meters looking forward 200.000000 meters along route
#   Maximum depth: 776.395973 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 718.803554 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847589;
longitude = -118.698507;
duration = 408;
initialDepth = 713.718884;
finalDepth = 718.803554;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.042897
#   Actual altitude:          54.042897
#   Commanded vehicle depth:  718.803554 
#   Seafloor depth:           -772.249428
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.009558 meters
#   Minimum depth: 763.718884 meters looking forward 200.000000 meters along route
#   Maximum depth: 772.013917 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 713.718884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848311;
longitude = -118.697823;
duration = 408;
initialDepth = 711.743261;
finalDepth = 713.718884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.911021
#   Actual altitude:          54.911021
#   Commanded vehicle depth:  713.718884 
#   Seafloor depth:           -768.629905
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.009210 meters
#   Minimum depth: 761.743261 meters looking forward 200.000000 meters along route
#   Maximum depth: 768.353621 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 711.743261 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849032;
longitude = -118.697139;
duration = 408;
initialDepth = 708.848847;
finalDepth = 711.743261;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.911021
#   Actual altitude:          54.911021
#   Commanded vehicle depth:  711.743261 
#   Seafloor depth:           -763.717670
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.008862 meters
#   Minimum depth: 758.848847 meters looking forward 200.000000 meters along route
#   Maximum depth: 763.551048 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 708.848847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849753;
longitude = -118.696455;
duration = 408;
initialDepth = 703.177459;
finalDepth = 708.848847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.724698
#   Actual altitude:          52.724698
#   Commanded vehicle depth:  708.848847 
#   Seafloor depth:           -761.573545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.008514 meters
#   Minimum depth: 753.177459 meters looking forward 200.000000 meters along route
#   Maximum depth: 761.370803 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 703.177459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850475;
longitude = -118.695771;
duration = 408;
initialDepth = 700.364000;
finalDepth = 703.177459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.605005
#   Actual altitude:          55.605005
#   Commanded vehicle depth:  703.177459 
#   Seafloor depth:           -758.782464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.008166 meters
#   Minimum depth: 750.364000 meters looking forward 200.000000 meters along route
#   Maximum depth: 758.584308 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 700.364000 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851196;
longitude = -118.695087;
duration = 408;
initialDepth = 695.985160;
finalDepth = 700.364000;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.605005
#   Actual altitude:          55.605005
#   Commanded vehicle depth:  700.364 
#   Seafloor depth:           -753.177013
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.007817 meters
#   Minimum depth: 745.985160 meters looking forward 200.000000 meters along route
#   Maximum depth: 753.060997 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 695.985160 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851917;
longitude = -118.694403;
duration = 408;
initialDepth = 687.547424;
finalDepth = 695.985160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.179439
#   Actual altitude:          54.179439
#   Commanded vehicle depth:  695.98516 
#   Seafloor depth:           -750.164599
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.007470 meters
#   Minimum depth: 737.547424 meters looking forward 200.000000 meters along route
#   Maximum depth: 751.628623 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 687.547424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852638;
longitude = -118.693719;
duration = 408;
initialDepth = 687.547424;
finalDepth = 687.547424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.321153
#   Actual altitude:          58.321153
#   Commanded vehicle depth:  687.547424 
#   Seafloor depth:           -745.868577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.007121 meters
#   Minimum depth: 737.547424 meters looking forward 200.000000 meters along route
#   Maximum depth: 745.706978 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 687.547424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853360;
longitude = -118.693035;
duration = 408;
initialDepth = 677.228613;
finalDepth = 687.547424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.321153
#   Actual altitude:          58.321153
#   Commanded vehicle depth:  687.547424 
#   Seafloor depth:           -738.477855
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 102.006772 meters
#   Minimum depth: 727.228613 meters looking forward 200.000000 meters along route
#   Maximum depth: 739.647635 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 677.228613 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854081;
longitude = -118.692351;
duration = 408;
initialDepth = 640.836180;
finalDepth = 677.228613;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.705646
#   Actual altitude:          60.705646
#   Commanded vehicle depth:  677.228613 
#   Seafloor depth:           -737.934259
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 29
#   Segment length 100.239812 meters
#   Minimum depth: 690.836180 meters looking forward 200.000000 meters along route
#   Maximum depth: 737.758386 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 640.836180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854802;
longitude = -118.691667;
duration = 400;
initialDepth = 581.387185;
finalDepth = 640.836180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       85.864273
#   Actual altitude:          85.864273
#   Commanded vehicle depth:  640.83618 
#   Seafloor depth:           -726.700453
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 51.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 28
#   Segment length 149.968417 meters
#   Minimum depth: 631.387185 meters looking forward 200.000000 meters along route
#   Maximum depth: 708.319121 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 581.387185 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855511;
longitude = -118.690995;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 577.759048;
finalDepth = 581.387185;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       108.13816
#   Actual altitude:          100
#   Commanded vehicle depth:  581.387185 
#   Seafloor depth:           -689.525345
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 27
#   Segment length 109.093573 meters
#   Minimum depth: 627.759048 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.526302 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 577.759048 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854672;
longitude = -118.689724;
duration = 436;
# abortOnTimeout    = True; 
initialDepth = 596.695200;
finalDepth = 577.759048;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       108.13816
#   Actual altitude:          100
#   Commanded vehicle depth:  577.759048 
#   Seafloor depth:           -627.759048
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.896571 meters
#   Minimum depth: 646.695200 meters looking forward 200.000000 meters along route
#   Maximum depth: 724.198695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 596.695200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853901;
longitude = -118.690456;
duration = 411;
initialDepth = 624.266253;
finalDepth = 596.695200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.512568
#   Actual altitude:          100
#   Commanded vehicle depth:  596.6952 
#   Seafloor depth:           -703.207768
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 101.118043 meters
#   Minimum depth: 705.502504 meters looking forward 200.000000 meters along route
#   Maximum depth: 733.147137 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 624.266253 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853173;
longitude = -118.691145;
duration = 404;
initialDepth = 651.360750;
finalDepth = 624.266253;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       106.512568
#   Actual altitude:          100
#   Commanded vehicle depth:  624.266252610874 
#   Seafloor depth:           -724.295479
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.007829 meters
#   Minimum depth: 724.893271 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.027065 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 651.360750 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852458;
longitude = -118.691824;
duration = 408;
initialDepth = 674.855024;
finalDepth = 651.360750;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       100.029226389126
#   Actual altitude:          100
#   Commanded vehicle depth:  651.360750088944 
#   Seafloor depth:           -733.154835
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.898983 meters
#   Minimum depth: 724.855024 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.027065 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 674.855024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851737;
longitude = -118.692508;
duration = 411;
initialDepth = 664.590377;
finalDepth = 674.855024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       81.7940849110562
#   Actual altitude:          81.7940849110562
#   Commanded vehicle depth:  674.855024 
#   Seafloor depth:           -732.937763
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 49.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 101.117720 meters
#   Minimum depth: 714.590377 meters looking forward 200.000000 meters along route
#   Maximum depth: 732.912102 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 664.590377 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851009;
longitude = -118.693197;
duration = 404;
initialDepth = 664.590377;
finalDepth = 664.590377;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.062153
#   Actual altitude:          60.062153
#   Commanded vehicle depth:  664.590377 
#   Seafloor depth:           -724.652530
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.008874 meters
#   Minimum depth: 714.590377 meters looking forward 200.000000 meters along route
#   Maximum depth: 724.872563 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 664.590377 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850294;
longitude = -118.693876;
duration = 408;
initialDepth = 668.570428;
finalDepth = 664.590377;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.062153
#   Actual altitude:          60.062153
#   Commanded vehicle depth:  664.590377 
#   Seafloor depth:           -720.614827
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.901396 meters
#   Minimum depth: 718.570428 meters looking forward 200.000000 meters along route
#   Maximum depth: 730.782319 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 668.570428 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849573;
longitude = -118.694560;
duration = 411;
initialDepth = 642.984100;
finalDepth = 668.570428;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.991684
#   Actual altitude:          56.991684
#   Commanded vehicle depth:  668.570428 
#   Seafloor depth:           -725.562112
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 101.117396 meters
#   Minimum depth: 692.984100 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.441852 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 642.984100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848845;
longitude = -118.695249;
duration = 404;
initialDepth = 642.984100;
finalDepth = 642.984100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       87.814315
#   Actual altitude:          87.814315
#   Commanded vehicle depth:  642.9841 
#   Seafloor depth:           -730.798415
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.009918 meters
#   Minimum depth: 692.984100 meters looking forward 200.000000 meters along route
#   Maximum depth: 738.052216 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 642.984100 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848130;
longitude = -118.695928;
duration = 408;
initialDepth = 647.038668;
finalDepth = 642.984100;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.1065199999999
#   Actual altitude:          93.1065199999999
#   Commanded vehicle depth:  642.9841 
#   Seafloor depth:           -736.090620
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.903809 meters
#   Minimum depth: 697.038668 meters looking forward 200.000000 meters along route
#   Maximum depth: 738.052216 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.038668 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847409;
longitude = -118.696612;
duration = 411;
initialDepth = 649.207739;
finalDepth = 647.038668;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       93.1065199999999
#   Actual altitude:          93.1065199999999
#   Commanded vehicle depth:  647.038668 
#   Seafloor depth:           -698.876114
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 55.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 101.117072 meters
#   Minimum depth: 699.207739 meters looking forward 200.000000 meters along route
#   Maximum depth: 759.308984 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 649.207739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846681;
longitude = -118.697301;
duration = 404;
initialDepth = 668.855847;
finalDepth = 649.207739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.950944
#   Actual altitude:          67.950944
#   Commanded vehicle depth:  649.207739 
#   Seafloor depth:           -717.158683
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.010963 meters
#   Minimum depth: 718.855847 meters looking forward 200.000000 meters along route
#   Maximum depth: 776.181520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 668.855847 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845967;
longitude = -118.697980;
duration = 408;
initialDepth = 696.189602;
finalDepth = 668.855847;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.887887
#   Actual altitude:          86.887887
#   Commanded vehicle depth:  668.855847 
#   Seafloor depth:           -755.743734
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 102.906222 meters
#   Minimum depth: 764.753697 meters looking forward 200.000000 meters along route
#   Maximum depth: 780.441974 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 696.189602 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845245;
longitude = -118.698664;
duration = 411;
initialDepth = 723.763240;
finalDepth = 696.189602;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       86.887887
#   Actual altitude:          86.887887
#   Commanded vehicle depth:  696.189601666701 
#   Seafloor depth:           -776.341847
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 52.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 27
#   Segment length 104.322706 meters
#   Minimum depth: 777.967302 meters looking forward 200.000000 meters along route
#   Maximum depth: 784.265578 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 723.763240 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844518;
longitude = -118.699354;
duration = 417;
initialDepth = 720.060983;
finalDepth = 723.763240;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       80.1522453332988
#   Actual altitude:          80.1522453332988
#   Commanded vehicle depth:  723.763240255183 
#   Seafloor depth:           -780.468935
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 26
#   Segment length 150.050251 meters
#   Minimum depth: 770.060983 meters looking forward 200.000000 meters along route
#   Maximum depth: 784.337330 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 720.060983 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843780;
longitude = -118.700053;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 703.298157;
finalDepth = 720.060983;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       64.2578040000001
#   Actual altitude:          64.2578040000001
#   Commanded vehicle depth:  720.060983 
#   Seafloor depth:           -784.318787
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.55;
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 109.253142 meters
#   Minimum depth: 753.298157 meters looking forward 200.000000 meters along route
#   Maximum depth: 782.107034 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 703.298157 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842940;
longitude = -118.698782;
duration = 437;
# abortOnTimeout    = True; 
initialDepth = 684.415096;
finalDepth = 703.298157;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.5276640000001
#   Actual altitude:          66.5276640000001
#   Commanded vehicle depth:  703.298157 
#   Seafloor depth:           -769.825821
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.507581 meters
#   Minimum depth: 734.415096 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.591497 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 684.415096 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843713;
longitude = -118.698049;
duration = 414;
initialDepth = 661.068563;
finalDepth = 684.415096;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.730048
#   Actual altitude:          68.730048
#   Commanded vehicle depth:  684.415096 
#   Seafloor depth:           -753.145144
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.508114 meters
#   Minimum depth: 711.068563 meters looking forward 200.000000 meters along route
#   Maximum depth: 752.238408 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 661.068563 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844444;
longitude = -118.697355;
duration = 402;
initialDepth = 643.506163;
finalDepth = 661.068563;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.9650879999999
#   Actual altitude:          72.9650879999999
#   Commanded vehicle depth:  661.068563 
#   Seafloor depth:           -734.033651
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 102.007325 meters
#   Minimum depth: 693.506163 meters looking forward 200.000000 meters along route
#   Maximum depth: 732.857612 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 643.506163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845155;
longitude = -118.696682;
duration = 408;
initialDepth = 632.684684;
finalDepth = 643.506163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.9650879999999
#   Actual altitude:          72.9650879999999
#   Commanded vehicle depth:  643.506163 
#   Seafloor depth:           -710.216078
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.535977 meters
#   Minimum depth: 682.684684 meters looking forward 200.000000 meters along route
#   Maximum depth: 708.847105 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 632.684684 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845876;
longitude = -118.695998;
duration = 414;
initialDepth = 625.089759;
finalDepth = 632.684684;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.709915
#   Actual altitude:          66.709915
#   Commanded vehicle depth:  632.684684 
#   Seafloor depth:           -693.374376
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.477629 meters
#   Minimum depth: 675.089759 meters looking forward 200.000000 meters along route
#   Maximum depth: 692.618043 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 625.089759 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846608;
longitude = -118.695303;
duration = 401;
initialDepth = 608.171433;
finalDepth = 625.089759;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.689692
#   Actual altitude:          60.689692
#   Commanded vehicle depth:  625.089759 
#   Seafloor depth:           -682.512423
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 102.006281 meters
#   Minimum depth: 658.171433 meters looking forward 200.000000 meters along route
#   Maximum depth: 682.085372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 608.171433 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847319;
longitude = -118.694630;
duration = 408;
initialDepth = 577.021414;
finalDepth = 608.171433;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.692366
#   Actual altitude:          66.692366
#   Commanded vehicle depth:  608.171433 
#   Seafloor depth:           -674.863799
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.564371 meters
#   Minimum depth: 627.021414 meters looking forward 200.000000 meters along route
#   Maximum depth: 674.552133 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 577.021414 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848040;
longitude = -118.693946;
duration = 414;
initialDepth = 564.668790;
finalDepth = 577.021414;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.699526
#   Actual altitude:          80.699526
#   Commanded vehicle depth:  577.021414 
#   Seafloor depth:           -657.720940
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.447146 meters
#   Minimum depth: 614.668790 meters looking forward 200.000000 meters along route
#   Maximum depth: 655.458874 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 564.668790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848772;
longitude = -118.693251;
duration = 401;
initialDepth = 560.283060;
finalDepth = 564.668790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       80.699526
#   Actual altitude:          80.699526
#   Commanded vehicle depth:  564.66879 
#   Seafloor depth:           -626.702026
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 48.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 102.005237 meters
#   Minimum depth: 610.283060 meters looking forward 200.000000 meters along route
#   Maximum depth: 646.797554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 560.283060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849483;
longitude = -118.692578;
duration = 408;
initialDepth = 560.283060;
finalDepth = 560.283060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0332360000001
#   Actual altitude:          62.0332360000001
#   Commanded vehicle depth:  560.28306 
#   Seafloor depth:           -613.854342
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.592765 meters
#   Minimum depth: 610.283060 meters looking forward 200.000000 meters along route
#   Maximum depth: 646.797554 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 560.283060 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850204;
longitude = -118.691894;
duration = 414;
initialDepth = 560.969184;
finalDepth = 560.283060;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.9740360000001
#   Actual altitude:          83.9740360000001
#   Commanded vehicle depth:  560.28306 
#   Seafloor depth:           -644.257096
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 100.416663 meters
#   Minimum depth: 610.969184 meters looking forward 200.000000 meters along route
#   Maximum depth: 642.487756 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 560.969184 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850937;
longitude = -118.691199;
duration = 401;
initialDepth = 544.706024;
finalDepth = 560.969184;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.9740360000001
#   Actual altitude:          83.9740360000001
#   Commanded vehicle depth:  560.969184 
#   Seafloor depth:           -613.634385
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.38;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 102.004193 meters
#   Minimum depth: 594.706024 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.375520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 544.706024 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851647;
longitude = -118.690526;
duration = 408;
initialDepth = 542.857402;
finalDepth = 544.706024;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.602215
#   Actual altitude:          94.602215
#   Commanded vehicle depth:  544.706024 
#   Seafloor depth:           -639.308239
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.621158 meters
#   Minimum depth: 592.857402 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.375520 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 542.857402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852368;
longitude = -118.689842;
duration = 414;
initialDepth = 542.857402;
finalDepth = 542.857402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.602215
#   Actual altitude:          94.602215
#   Commanded vehicle depth:  542.857402 
#   Seafloor depth:           -594.674957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 25
#   Segment length 103.575451 meters
#   Minimum depth: 592.857402 meters looking forward 200.000000 meters along route
#   Maximum depth: 616.510290 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 542.857402 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853101;
longitude = -118.689147;
duration = 414;
initialDepth = 536.238325;
finalDepth = 542.857402;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       61.5704930000001
#   Actual altitude:          61.5704930000001
#   Commanded vehicle depth:  542.857402 
#   Seafloor depth:           -604.427895
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.94;
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 24
#   Segment length 149.970071 meters
#   Minimum depth: 586.238325 meters looking forward 200.000000 meters along route
#   Maximum depth: 600.840887 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 536.238325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853833;
longitude = -118.688453;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 536.238325;
finalDepth = 536.238325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       63.293276
#   Actual altitude:          63.293276
#   Commanded vehicle depth:  536.238325 
#   Seafloor depth:           -599.531601
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 23
#   Segment length 107.851478 meters
#   Minimum depth: 586.238325 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.433460 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 536.238325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852994;
longitude = -118.687182;
duration = 431;
# abortOnTimeout    = True; 
initialDepth = 539.195599;
finalDepth = 536.238325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.293276
#   Actual altitude:          63.293276
#   Commanded vehicle depth:  536.238325 
#   Seafloor depth:           -592.728653
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.98;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 104.181950 meters
#   Minimum depth: 589.195599 meters looking forward 200.000000 meters along route
#   Maximum depth: 598.612268 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 539.195599 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852233;
longitude = -118.687907;
duration = 416;
initialDepth = 545.484459;
finalDepth = 539.195599;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.490328
#   Actual altitude:          56.490328
#   Commanded vehicle depth:  539.195599 
#   Seafloor depth:           -595.405703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.168657 meters
#   Minimum depth: 595.484459 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.144757 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 545.484459 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851497;
longitude = -118.688607;
duration = 400;
initialDepth = 548.812139;
finalDepth = 545.484459;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.210104
#   Actual altitude:          56.210104
#   Commanded vehicle depth:  545.484459 
#   Seafloor depth:           -598.680746
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.175828 meters
#   Minimum depth: 598.812139 meters looking forward 200.000000 meters along route
#   Maximum depth: 606.591505 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 548.812139 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850790;
longitude = -118.689281;
duration = 408;
initialDepth = 552.530990;
finalDepth = 548.812139;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.4890349999999
#   Actual altitude:          53.4890349999999
#   Commanded vehicle depth:  548.812139 
#   Seafloor depth:           -602.301174
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.885510 meters
#   Minimum depth: 602.530990 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.120492 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 552.530990 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850069;
longitude = -118.689968;
duration = 411;
initialDepth = 556.888148;
finalDepth = 552.530990;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.124964
#   Actual altitude:          54.124964
#   Commanded vehicle depth:  552.53099 
#   Seafloor depth:           -606.655954
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 101.467200 meters
#   Minimum depth: 606.888148 meters looking forward 200.000000 meters along route
#   Maximum depth: 613.267267 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 556.888148 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849343;
longitude = -118.690659;
duration = 405;
initialDepth = 561.378739;
finalDepth = 556.888148;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.266491
#   Actual altitude:          54.266491
#   Commanded vehicle depth:  556.888148 
#   Seafloor depth:           -611.154639
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.176881 meters
#   Minimum depth: 611.378739 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.151980 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 561.378739 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848626;
longitude = -118.691342;
duration = 408;
initialDepth = 563.782268;
finalDepth = 561.378739;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.266491
#   Actual altitude:          54.266491
#   Commanded vehicle depth:  561.378739 
#   Seafloor depth:           -613.447926
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.177231 meters
#   Minimum depth: 613.782268 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.477638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 563.782268 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847905;
longitude = -118.692029;
duration = 408;
initialDepth = 578.919875;
finalDepth = 563.782268;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.912338
#   Actual altitude:          63.912338
#   Commanded vehicle depth:  563.782268 
#   Seafloor depth:           -627.694606
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 103.834388 meters
#   Minimum depth: 628.919875 meters looking forward 200.000000 meters along route
#   Maximum depth: 674.245716 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 578.919875 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847184;
longitude = -118.692715;
duration = 415;
initialDepth = 601.384280;
finalDepth = 578.919875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.71967
#   Actual altitude:          70.71967
#   Commanded vehicle depth:  578.919875 
#   Seafloor depth:           -649.639545
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.521126 meters
#   Minimum depth: 651.384280 meters looking forward 200.000000 meters along route
#   Maximum depth: 685.937055 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 601.384280 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846451;
longitude = -118.693413;
duration = 402;
initialDepth = 625.337044;
finalDepth = 601.384280;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.150424
#   Actual altitude:          73.150424
#   Commanded vehicle depth:  601.38428 
#   Seafloor depth:           -674.534704
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.178283 meters
#   Minimum depth: 675.337044 meters looking forward 200.000000 meters along route
#   Maximum depth: 689.440299 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 625.337044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845741;
longitude = -118.694089;
duration = 408;
initialDepth = 636.321204;
finalDepth = 625.337044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       73.150424
#   Actual altitude:          73.150424
#   Commanded vehicle depth:  625.337044 
#   Seafloor depth:           -686.072406
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.537913 meters
#   Minimum depth: 686.321204 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.468366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 636.321204 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845020;
longitude = -118.694776;
duration = 410;
initialDepth = 639.779712;
finalDepth = 636.321204;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.735362
#   Actual altitude:          60.735362
#   Commanded vehicle depth:  636.321204 
#   Seafloor depth:           -689.520049
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 101.819705 meters
#   Minimum depth: 689.779712 meters looking forward 200.000000 meters along route
#   Maximum depth: 709.813636 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 639.779712 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844296;
longitude = -118.695465;
duration = 407;
initialDepth = 648.178446;
finalDepth = 639.779712;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.8814199999999
#   Actual altitude:          57.8814199999999
#   Commanded vehicle depth:  639.779712 
#   Seafloor depth:           -697.661132
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.179334 meters
#   Minimum depth: 698.178446 meters looking forward 200.000000 meters along route
#   Maximum depth: 726.105168 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 648.178446 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843577;
longitude = -118.696150;
duration = 408;
initialDepth = 661.377341;
finalDepth = 648.178446;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.414879
#   Actual altitude:          62.414879
#   Commanded vehicle depth:  648.178446 
#   Seafloor depth:           -710.593325
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.45;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 102.179686 meters
#   Minimum depth: 711.377341 meters looking forward 200.000000 meters along route
#   Maximum depth: 739.787946 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 661.377341 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842856;
longitude = -118.696837;
duration = 408;
initialDepth = 677.598704;
finalDepth = 661.377341;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.214379
#   Actual altitude:          65.214379
#   Commanded vehicle depth:  661.377341 
#   Seafloor depth:           -726.591720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 103.486810 meters
#   Minimum depth: 727.598704 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.912207 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 677.598704 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842135;
longitude = -118.697524;
duration = 413;
initialDepth = 690.498084;
finalDepth = 677.598704;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.214379
#   Actual altitude:          65.214379
#   Commanded vehicle depth:  677.598704 
#   Seafloor depth:           -739.881037
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 23
#   Segment length 100.185352 meters
#   Minimum depth: 740.498084 meters looking forward 200.000000 meters along route
#   Maximum depth: 762.706949 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 690.498084 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841404;
longitude = -118.698220;
duration = 400;
initialDepth = 705.048343;
finalDepth = 690.498084;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.282333
#   Actual altitude:          62.282333
#   Commanded vehicle depth:  690.498084 
#   Seafloor depth:           -750.039617
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 22
#   Segment length 170.956187 meters
#   Minimum depth: 755.048343 meters looking forward 200.000000 meters along route
#   Maximum depth: 763.261429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 705.048343 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840697;
longitude = -118.698893;
duration = 683;
# abortOnTimeout    = True; 
initialDepth = 687.466848;
finalDepth = 705.048343;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.5415330000001
#   Actual altitude:          59.5415330000001
#   Commanded vehicle depth:  705.048343 
#   Seafloor depth:           -763.261429
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.72;
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 21
#   Segment length 138.032235 meters
#   Minimum depth: 737.466848 meters looking forward 200.000000 meters along route
#   Maximum depth: 755.312773 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 687.466848 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839623;
longitude = -118.697568;
duration = 552;
# abortOnTimeout    = True; 
initialDepth = 674.423818;
finalDepth = 687.466848;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.2800999999999
#   Actual altitude:          67.2800999999999
#   Commanded vehicle depth:  687.466848 
#   Seafloor depth:           -754.746948
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.681522 meters
#   Minimum depth: 724.423818 meters looking forward 200.000000 meters along route
#   Maximum depth: 750.132107 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 674.423818 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840606;
longitude = -118.696653;
duration = 402;
initialDepth = 660.834947;
finalDepth = 674.423818;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.2800999999999
#   Actual altitude:          67.2800999999999
#   Commanded vehicle depth:  674.423818 
#   Seafloor depth:           -737.390570
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.266012 meters
#   Minimum depth: 710.834947 meters looking forward 200.000000 meters along route
#   Maximum depth: 736.668226 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 660.834947 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841323;
longitude = -118.695986;
duration = 405;
initialDepth = 647.983711;
finalDepth = 660.834947;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.2464689999999
#   Actual altitude:          63.2464689999999
#   Commanded vehicle depth:  660.834947 
#   Seafloor depth:           -724.081416
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.265674 meters
#   Minimum depth: 697.983711 meters looking forward 200.000000 meters along route
#   Maximum depth: 723.385820 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.983711 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842045;
longitude = -118.695316;
duration = 405;
initialDepth = 641.547160;
finalDepth = 647.983711;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.2464689999999
#   Actual altitude:          63.2464689999999
#   Commanded vehicle depth:  647.983711 
#   Seafloor depth:           -710.057936
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.265337 meters
#   Minimum depth: 691.547160 meters looking forward 200.000000 meters along route
#   Maximum depth: 709.100412 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 641.547160 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842766;
longitude = -118.694645;
duration = 405;
initialDepth = 637.352687;
finalDepth = 641.547160;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0742250000001
#   Actual altitude:          62.0742250000001
#   Commanded vehicle depth:  641.54716 
#   Seafloor depth:           -697.850792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.265000 meters
#   Minimum depth: 687.352687 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.393705 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 637.352687 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843487;
longitude = -118.693974;
duration = 405;
initialDepth = 632.963423;
finalDepth = 637.352687;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.303632
#   Actual altitude:          56.303632
#   Commanded vehicle depth:  637.352687 
#   Seafloor depth:           -691.309461
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.264662 meters
#   Minimum depth: 682.963423 meters looking forward 200.000000 meters along route
#   Maximum depth: 691.155148 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 632.963423 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844208;
longitude = -118.693303;
duration = 405;
initialDepth = 613.675640;
finalDepth = 632.963423;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.372155
#   Actual altitude:          54.372155
#   Commanded vehicle depth:  632.963423 
#   Seafloor depth:           -687.335578
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 102.085900 meters
#   Minimum depth: 663.675640 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.103327 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 613.675640 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844930;
longitude = -118.692632;
duration = 408;
initialDepth = 596.904567;
finalDepth = 613.675640;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.7694429999999
#   Actual altitude:          68.7694429999999
#   Commanded vehicle depth:  613.67564 
#   Seafloor depth:           -682.445083
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.442413 meters
#   Minimum depth: 646.904567 meters looking forward 200.000000 meters along route
#   Maximum depth: 681.782167 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 596.904567 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845657;
longitude = -118.691955;
duration = 401;
initialDepth = 579.425598;
finalDepth = 596.904567;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       68.7694429999999
#   Actual altitude:          68.7694429999999
#   Commanded vehicle depth:  596.904567 
#   Seafloor depth:           -663.529367
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.263651 meters
#   Minimum depth: 629.425598 meters looking forward 200.000000 meters along route
#   Maximum depth: 662.544332 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 579.425598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846372;
longitude = -118.691290;
duration = 405;
initialDepth = 569.792928;
finalDepth = 579.425598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.0577999999999
#   Actual altitude:          67.0577999999999
#   Commanded vehicle depth:  579.425598 
#   Seafloor depth:           -646.483398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.263313 meters
#   Minimum depth: 619.792928 meters looking forward 200.000000 meters along route
#   Maximum depth: 645.605050 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 569.792928 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847094;
longitude = -118.690619;
duration = 405;
initialDepth = 569.792928;
finalDepth = 569.792928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.0577999999999
#   Actual altitude:          67.0577999999999
#   Commanded vehicle depth:  569.792928 
#   Seafloor depth:           -628.251305
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.262976 meters
#   Minimum depth: 619.792928 meters looking forward 200.000000 meters along route
#   Maximum depth: 626.996604 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 569.792928 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847815;
longitude = -118.689948;
duration = 405;
initialDepth = 562.759441;
finalDepth = 569.792928;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.458377
#   Actual altitude:          58.458377
#   Commanded vehicle depth:  569.792928 
#   Seafloor depth:           -621.362930
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.262639 meters
#   Minimum depth: 612.759441 meters looking forward 200.000000 meters along route
#   Maximum depth: 623.672900 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 562.759441 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848536;
longitude = -118.689277;
duration = 405;
initialDepth = 558.105218;
finalDepth = 562.759441;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.749244
#   Actual altitude:          56.749244
#   Commanded vehicle depth:  562.759441 
#   Seafloor depth:           -619.508685
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 101.262302 meters
#   Minimum depth: 608.105218 meters looking forward 200.000000 meters along route
#   Maximum depth: 619.191918 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 558.105218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849257;
longitude = -118.688606;
duration = 405;
initialDepth = 552.632449;
finalDepth = 558.105218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.749244
#   Actual altitude:          56.749244
#   Commanded vehicle depth:  558.105218 
#   Seafloor depth:           -612.750723
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 102.320276 meters
#   Minimum depth: 602.632449 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.452083 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 552.632449 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849979;
longitude = -118.687935;
duration = 409;
initialDepth = 547.955609;
finalDepth = 552.632449;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.307586
#   Actual altitude:          55.307586
#   Commanded vehicle depth:  552.632449 
#   Seafloor depth:           -607.940035
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 100.203316 meters
#   Minimum depth: 597.955609 meters looking forward 200.000000 meters along route
#   Maximum depth: 607.718725 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 547.955609 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850707;
longitude = -118.687257;
duration = 400;
initialDepth = 543.898062;
finalDepth = 547.955609;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.307586
#   Actual altitude:          55.307586
#   Commanded vehicle depth:  547.955609 
#   Seafloor depth:           -602.581533
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 21
#   Segment length 103.018305 meters
#   Minimum depth: 593.898062 meters looking forward 200.000000 meters along route
#   Maximum depth: 602.341699 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 543.898062 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851421;
longitude = -118.686594;
duration = 412;
initialDepth = 543.812180;
finalDepth = 543.898062;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.6259240000001
#   Actual altitude:          54.6259240000001
#   Commanded vehicle depth:  543.898062 
#   Seafloor depth:           -597.833848
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 20
#   Segment length 150.113113 meters
#   Minimum depth: 593.812180 meters looking forward 200.000000 meters along route
#   Maximum depth: 596.808856 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 543.812180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852155;
longitude = -118.685911;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 545.287471;
finalDepth = 543.812180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.935786
#   Actual altitude:          53.935786
#   Commanded vehicle depth:  543.81218 
#   Seafloor depth:           -593.812180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.36;
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 19
#   Segment length 118.760163 meters
#   Minimum depth: 595.287471 meters looking forward 200.000000 meters along route
#   Maximum depth: 601.711953 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 545.287471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851315;
longitude = -118.684639;
duration = 475;
# abortOnTimeout    = True; 
initialDepth = 547.598380;
finalDepth = 545.287471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.61031
#   Actual altitude:          51.61031
#   Commanded vehicle depth:  545.287471 
#   Seafloor depth:           -596.897781
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.97;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 102.941222 meters
#   Minimum depth: 597.598380 meters looking forward 200.000000 meters along route
#   Maximum depth: 606.576751 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 547.598380 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850475;
longitude = -118.685434;
duration = 411;
initialDepth = 552.072658;
finalDepth = 547.598380;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.194205
#   Actual altitude:          54.194205
#   Commanded vehicle depth:  547.59838 
#   Seafloor depth:           -601.792585
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.894943 meters
#   Minimum depth: 602.072658 meters looking forward 200.000000 meters along route
#   Maximum depth: 610.648845 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 552.072658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849746;
longitude = -118.686123;
duration = 403;
initialDepth = 556.883261;
finalDepth = 552.072658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5600609999999
#   Actual altitude:          54.5600609999999
#   Commanded vehicle depth:  552.072658 
#   Seafloor depth:           -606.632719
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.918603 meters
#   Minimum depth: 606.883261 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.598587 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 556.883261 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849032;
longitude = -118.686799;
duration = 407;
initialDepth = 561.028707;
finalDepth = 556.883261;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.5600609999999
#   Actual altitude:          54.5600609999999
#   Commanded vehicle depth:  556.883261 
#   Seafloor depth:           -610.814516
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.74;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 103.650919 meters
#   Minimum depth: 611.028707 meters looking forward 200.000000 meters along route
#   Maximum depth: 622.336042 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 561.028707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848311;
longitude = -118.687481;
duration = 414;
initialDepth = 566.002669;
finalDepth = 561.028707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.629428
#   Actual altitude:          54.629428
#   Commanded vehicle depth:  561.028707 
#   Seafloor depth:           -615.658135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.187326 meters
#   Minimum depth: 616.002669 meters looking forward 200.000000 meters along route
#   Maximum depth: 625.049860 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 566.002669 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847577;
longitude = -118.688175;
duration = 400;
initialDepth = 572.749043;
finalDepth = 566.002669;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.437631
#   Actual altitude:          56.437631
#   Commanded vehicle depth:  566.002669 
#   Seafloor depth:           -622.440300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.919643 meters
#   Minimum depth: 622.749043 meters looking forward 200.000000 meters along route
#   Maximum depth: 637.259317 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 572.749043 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846868;
longitude = -118.688846;
duration = 407;
initialDepth = 574.599696;
finalDepth = 572.749043;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.437631
#   Actual altitude:          56.437631
#   Commanded vehicle depth:  572.749043 
#   Seafloor depth:           -624.564111
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.919990 meters
#   Minimum depth: 624.599696 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.214342 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 574.599696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846147;
longitude = -118.689529;
duration = 407;
initialDepth = 588.594057;
finalDepth = 574.599696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.747895
#   Actual altitude:          62.747895
#   Commanded vehicle depth:  574.599696 
#   Seafloor depth:           -637.347591
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.920337 meters
#   Minimum depth: 638.594057 meters looking forward 200.000000 meters along route
#   Maximum depth: 657.657018 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 588.594057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845426;
longitude = -118.690211;
duration = 407;
initialDepth = 598.913970;
finalDepth = 588.594057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.747895
#   Actual altitude:          62.747895
#   Commanded vehicle depth:  588.594057 
#   Seafloor depth:           -648.506670
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 102.145436 meters
#   Minimum depth: 648.913970 meters looking forward 200.000000 meters along route
#   Maximum depth: 674.202919 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 598.913970 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844704;
longitude = -118.690894;
duration = 408;
initialDepth = 608.260540;
finalDepth = 598.913970;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.912613
#   Actual altitude:          59.912613
#   Commanded vehicle depth:  598.91397 
#   Seafloor depth:           -657.899491
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.696278 meters
#   Minimum depth: 658.260540 meters looking forward 200.000000 meters along route
#   Maximum depth: 683.738578 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 608.260540 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843981;
longitude = -118.691577;
duration = 406;
initialDepth = 624.909760;
finalDepth = 608.260540;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.9689050000001
#   Actual altitude:          65.9689050000001
#   Commanded vehicle depth:  608.26054 
#   Seafloor depth:           -674.229445
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.921377 meters
#   Minimum depth: 674.909760 meters looking forward 200.000000 meters along route
#   Maximum depth: 690.379638 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 624.909760 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843262;
longitude = -118.692258;
duration = 407;
initialDepth = 634.533706;
finalDepth = 624.909760;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.9689050000001
#   Actual altitude:          65.9689050000001
#   Commanded vehicle depth:  624.90976 
#   Seafloor depth:           -684.089613
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 102.855144 meters
#   Minimum depth: 684.533706 meters looking forward 200.000000 meters along route
#   Maximum depth: 701.940205 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 634.533706 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842540;
longitude = -118.692941;
duration = 411;
initialDepth = 641.126138;
finalDepth = 634.533706;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.179853
#   Actual altitude:          59.179853
#   Commanded vehicle depth:  634.533706 
#   Seafloor depth:           -690.526568
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.51;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.988650 meters
#   Minimum depth: 691.126138 meters looking forward 200.000000 meters along route
#   Maximum depth: 715.960999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 641.126138 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841813;
longitude = -118.693629;
duration = 403;
initialDepth = 652.709541;
finalDepth = 641.126138;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.923133
#   Actual altitude:          60.923133
#   Commanded vehicle depth:  641.126138 
#   Seafloor depth:           -702.049271
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.922418 meters
#   Minimum depth: 702.709541 meters looking forward 200.000000 meters along route
#   Maximum depth: 729.492782 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 652.709541 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841098;
longitude = -118.694306;
duration = 407;
initialDepth = 667.521357;
finalDepth = 652.709541;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.897512
#   Actual altitude:          63.897512
#   Commanded vehicle depth:  652.709541 
#   Seafloor depth:           -716.607053
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 103.564867 meters
#   Minimum depth: 717.521357 meters looking forward 200.000000 meters along route
#   Maximum depth: 742.302192 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 667.521357 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840377;
longitude = -118.694988;
duration = 414;
initialDepth = 680.291557;
finalDepth = 667.521357;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.897512
#   Actual altitude:          63.897512
#   Commanded vehicle depth:  667.521357 
#   Seafloor depth:           -729.629150
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.281009 meters
#   Minimum depth: 730.291557 meters looking forward 200.000000 meters along route
#   Maximum depth: 752.650639 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 680.291557 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839644;
longitude = -118.695681;
duration = 401;
initialDepth = 693.178890;
finalDepth = 680.291557;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.231907
#   Actual altitude:          62.231907
#   Commanded vehicle depth:  680.291557 
#   Seafloor depth:           -742.523464
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 101.349606 meters
#   Minimum depth: 743.178890 meters looking forward 200.000000 meters along route
#   Maximum depth: 758.981813 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 693.178890 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838934;
longitude = -118.696353;
duration = 405;
initialDepth = 703.442938;
finalDepth = 693.178890;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.231907
#   Actual altitude:          62.231907
#   Commanded vehicle depth:  693.17889 
#   Seafloor depth:           -752.982778
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 19
#   Segment length 100.442333 meters
#   Minimum depth: 753.442938 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.296924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 703.442938 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838217;
longitude = -118.697031;
duration = 401;
initialDepth = 714.017827;
finalDepth = 703.442938;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       59.803888
#   Actual altitude:          59.803888
#   Commanded vehicle depth:  703.442938 
#   Seafloor depth:           -760.905001
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 18
#   Segment length 148.616594 meters
#   Minimum depth: 764.017827 meters looking forward 200.000000 meters along route
#   Maximum depth: 770.863924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 714.017827 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837506;
longitude = -118.697704;
duration = 594;
# abortOnTimeout    = True; 
initialDepth = 705.874453;
finalDepth = 714.017827;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       57.4620629999999
#   Actual altitude:          57.4620629999999
#   Commanded vehicle depth:  714.017827 
#   Seafloor depth:           -767.570831
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.48;
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 17
#   Segment length 113.882258 meters
#   Minimum depth: 755.874453 meters looking forward 200.000000 meters along route
#   Maximum depth: 770.863924 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 705.874453 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836686;
longitude = -118.696434;
duration = 455;
# abortOnTimeout    = True; 
initialDepth = 696.584741;
finalDepth = 705.874453;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.481504
#   Actual altitude:          64.481504
#   Commanded vehicle depth:  705.874453 
#   Seafloor depth:           -770.355957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.163563 meters
#   Minimum depth: 746.584741 meters looking forward 200.000000 meters along route
#   Maximum depth: 768.440381 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 696.584741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837491;
longitude = -118.695671;
duration = 412;
initialDepth = 686.273960;
finalDepth = 696.584741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.481504
#   Actual altitude:          64.481504
#   Commanded vehicle depth:  696.584741 
#   Seafloor depth:           -755.728730
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.797448 meters
#   Minimum depth: 736.273960 meters looking forward 200.000000 meters along route
#   Maximum depth: 755.168142 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 686.273960 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838221;
longitude = -118.694979;
duration = 403;
initialDepth = 676.398091;
finalDepth = 686.273960;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.169072
#   Actual altitude:          60.169072
#   Commanded vehicle depth:  686.27396 
#   Seafloor depth:           -746.443032
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.979984 meters
#   Minimum depth: 726.398091 meters looking forward 200.000000 meters along route
#   Maximum depth: 745.807324 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 676.398091 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838934;
longitude = -118.694304;
duration = 407;
initialDepth = 667.648999;
finalDepth = 676.398091;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.169072
#   Actual altitude:          60.169072
#   Commanded vehicle depth:  676.398091 
#   Seafloor depth:           -735.933474
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.426216 meters
#   Minimum depth: 717.648999 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.496507 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 667.648999 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839655;
longitude = -118.693621;
duration = 413;
initialDepth = 654.375218;
finalDepth = 667.648999;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.535383
#   Actual altitude:          59.535383
#   Commanded vehicle depth:  667.648999 
#   Seafloor depth:           -726.297790
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.72;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.532708 meters
#   Minimum depth: 704.375218 meters looking forward 200.000000 meters along route
#   Maximum depth: 725.812324 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 654.375218 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840387;
longitude = -118.692927;
duration = 402;
initialDepth = 640.901465;
finalDepth = 654.375218;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.100356
#   Actual altitude:          63.100356
#   Commanded vehicle depth:  654.375218 
#   Seafloor depth:           -717.475574
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.978941 meters
#   Minimum depth: 690.901465 meters looking forward 200.000000 meters along route
#   Maximum depth: 716.892044 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 640.901465 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841098;
longitude = -118.692254;
duration = 407;
initialDepth = 627.361224;
finalDepth = 640.901465;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.100356
#   Actual altitude:          63.100356
#   Commanded vehicle depth:  640.901465 
#   Seafloor depth:           -703.482359
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.86;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.688865 meters
#   Minimum depth: 677.361224 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.600920 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 627.361224 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841819;
longitude = -118.691570;
duration = 414;
initialDepth = 612.923591;
finalDepth = 627.361224;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.371979
#   Actual altitude:          63.371979
#   Commanded vehicle depth:  627.361224 
#   Seafloor depth:           -690.733203
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.267974 meters
#   Minimum depth: 662.923591 meters looking forward 200.000000 meters along route
#   Maximum depth: 689.639078 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 612.923591 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842553;
longitude = -118.690875;
duration = 401;
initialDepth = 600.078188;
finalDepth = 612.923591;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.242741
#   Actual altitude:          64.242741
#   Commanded vehicle depth:  612.923591 
#   Seafloor depth:           -677.166332
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.977899 meters
#   Minimum depth: 650.078188 meters looking forward 200.000000 meters along route
#   Maximum depth: 676.679146 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 600.078188 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843262;
longitude = -118.690204;
duration = 407;
initialDepth = 587.826079;
finalDepth = 600.078188;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.242741
#   Actual altitude:          64.242741
#   Commanded vehicle depth:  600.078188 
#   Seafloor depth:           -662.837424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 103.951506 meters
#   Minimum depth: 637.826079 meters looking forward 200.000000 meters along route
#   Maximum depth: 662.583564 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 587.826079 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843983;
longitude = -118.689520;
duration = 415;
initialDepth = 581.365297;
finalDepth = 587.826079;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.7592360000001
#   Actual altitude:          62.7592360000001
#   Commanded vehicle depth:  587.826079 
#   Seafloor depth:           -649.922911
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 100.003247 meters
#   Minimum depth: 631.365297 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.569879 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 581.365297 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844718;
longitude = -118.688823;
duration = 400;
initialDepth = 578.655875;
finalDepth = 581.365297;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0968319999999
#   Actual altitude:          62.0968319999999
#   Commanded vehicle depth:  581.365297 
#   Seafloor depth:           -637.753110
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.26;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.976855 meters
#   Minimum depth: 628.655875 meters looking forward 200.000000 meters along route
#   Maximum depth: 637.453170 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 578.655875 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845426;
longitude = -118.688153;
duration = 407;
initialDepth = 573.314036;
finalDepth = 578.655875;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.3878129999999
#   Actual altitude:          56.3878129999999
#   Commanded vehicle depth:  578.655875 
#   Seafloor depth:           -631.569146
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.976508 meters
#   Minimum depth: 623.314036 meters looking forward 200.000000 meters along route
#   Maximum depth: 631.473085 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 573.314036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846147;
longitude = -118.687470;
duration = 407;
initialDepth = 566.410559;
finalDepth = 573.314036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.323174
#   Actual altitude:          55.323174
#   Commanded vehicle depth:  573.314036 
#   Seafloor depth:           -628.637210
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.976160 meters
#   Minimum depth: 616.410559 meters looking forward 200.000000 meters along route
#   Maximum depth: 628.376068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 566.410559 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846868;
longitude = -118.686786;
duration = 407;
initialDepth = 561.320715;
finalDepth = 566.410559;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.5369999999999
#   Actual altitude:          56.5369999999999
#   Commanded vehicle depth:  566.410559 
#   Seafloor depth:           -622.947559
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.975813 meters
#   Minimum depth: 611.320715 meters looking forward 200.000000 meters along route
#   Maximum depth: 622.599378 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 561.320715 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847589;
longitude = -118.686103;
duration = 407;
initialDepth = 557.961514;
finalDepth = 561.320715;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.5369999999999
#   Actual altitude:          56.5369999999999
#   Commanded vehicle depth:  561.320715 
#   Seafloor depth:           -616.237135
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.92;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.975465 meters
#   Minimum depth: 607.961514 meters looking forward 200.000000 meters along route
#   Maximum depth: 615.937867 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 557.961514 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848311;
longitude = -118.685420;
duration = 407;
initialDepth = 554.057221;
finalDepth = 557.961514;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.91642
#   Actual altitude:          54.91642
#   Commanded vehicle depth:  557.961514 
#   Seafloor depth:           -611.310212
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 101.975117 meters
#   Minimum depth: 604.057221 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.019155 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 554.057221 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849032;
longitude = -118.684736;
duration = 407;
initialDepth = 550.200696;
finalDepth = 554.057221;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.72691
#   Actual altitude:          53.72691
#   Commanded vehicle depth:  554.057221 
#   Seafloor depth:           -607.784131
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 17
#   Segment length 102.183810 meters
#   Minimum depth: 600.200696 meters looking forward 200.000000 meters along route
#   Maximum depth: 607.510388 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 550.200696 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849753;
longitude = -118.684053;
duration = 408;
initialDepth = 550.083786;
finalDepth = 550.200696;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.748574
#   Actual altitude:          53.748574
#   Commanded vehicle depth:  550.200696 
#   Seafloor depth:           -603.949270
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.25;
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 149.973380 meters
#   Minimum depth: 600.083786 meters looking forward 200.000000 meters along route
#   Maximum depth: 603.773183 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 550.083786 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850476;
longitude = -118.683368;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 551.314522;
finalDepth = 550.083786;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       53.748574
#   Actual altitude:          53.748574
#   Commanded vehicle depth:  550.083786 
#   Seafloor depth:           -600.083786
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.25;
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 92.563461 meters
#   Minimum depth: 601.314522 meters looking forward 200.000000 meters along route
#   Maximum depth: 607.841225 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 551.314522 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849637;
longitude = -118.682097;
duration = 370;
# abortOnTimeout    = True; 
initialDepth = 553.863281;
finalDepth = 551.314522;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.548759
#   Actual altitude:          52.548759
#   Commanded vehicle depth:  551.314522 
#   Seafloor depth:           -603.863281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.53;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 104.058190 meters
#   Minimum depth: 603.863281 meters looking forward 200.000000 meters along route
#   Maximum depth: 611.492902 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 553.863281 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848985;
longitude = -118.682721;
duration = 416;
initialDepth = 558.032673;
finalDepth = 553.863281;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.984832
#   Actual altitude:          53.984832
#   Commanded vehicle depth:  553.863281 
#   Seafloor depth:           -607.848113
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.483749 meters
#   Minimum depth: 608.032673 meters looking forward 200.000000 meters along route
#   Maximum depth: 614.878739 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 558.032673 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848252;
longitude = -118.683423;
duration = 401;
initialDepth = 561.731950;
finalDepth = 558.032673;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.984832
#   Actual altitude:          53.984832
#   Commanded vehicle depth:  558.032673 
#   Seafloor depth:           -611.555624
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.403426 meters
#   Minimum depth: 611.731950 meters looking forward 200.000000 meters along route
#   Maximum depth: 618.916162 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 561.731950 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847544;
longitude = -118.684101;
duration = 409;
initialDepth = 565.297873;
finalDepth = 561.731950;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.5229509999999
#   Actual altitude:          53.5229509999999
#   Commanded vehicle depth:  561.73195 
#   Seafloor depth:           -615.029868
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.11;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.403779 meters
#   Minimum depth: 615.297873 meters looking forward 200.000000 meters along route
#   Maximum depth: 623.312561 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 565.297873 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846823;
longitude = -118.684792;
duration = 409;
initialDepth = 569.248849;
finalDepth = 565.297873;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.710868
#   Actual altitude:          53.710868
#   Commanded vehicle depth:  565.297873 
#   Seafloor depth:           -619.008741
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.940854 meters
#   Minimum depth: 619.248849 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.956741 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 569.248849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846102;
longitude = -118.685483;
duration = 411;
initialDepth = 573.930930;
finalDepth = 569.248849;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.112658
#   Actual altitude:          54.112658
#   Commanded vehicle depth:  569.248849 
#   Seafloor depth:           -623.361507
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 104.059988 meters
#   Minimum depth: 623.930930 meters looking forward 200.000000 meters along route
#   Maximum depth: 628.430031 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 573.930930 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845377;
longitude = -118.686177;
duration = 416;
initialDepth = 576.408017;
finalDepth = 573.930930;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.112658
#   Actual altitude:          54.112658
#   Commanded vehicle depth:  573.93093 
#   Seafloor depth:           -627.977013
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 100.212617 meters
#   Minimum depth: 626.408017 meters looking forward 200.000000 meters along route
#   Maximum depth: 635.792718 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 576.408017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844644;
longitude = -118.686879;
duration = 400;
initialDepth = 576.408017;
finalDepth = 576.408017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.0460830000001
#   Actual altitude:          54.0460830000001
#   Commanded vehicle depth:  576.408017 
#   Seafloor depth:           -626.522229
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.405194 meters
#   Minimum depth: 626.408017 meters looking forward 200.000000 meters along route
#   Maximum depth: 657.875340 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 576.408017 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843938;
longitude = -118.687556;
duration = 409;
initialDepth = 587.154376;
finalDepth = 576.408017;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.912519
#   Actual altitude:          59.912519
#   Commanded vehicle depth:  576.408017 
#   Seafloor depth:           -636.320536
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.405548 meters
#   Minimum depth: 637.154376 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.079568 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 587.154376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843217;
longitude = -118.688246;
duration = 409;
initialDepth = 609.260289;
finalDepth = 587.154376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.1419980000001
#   Actual altitude:          71.1419980000001
#   Commanded vehicle depth:  587.154376 
#   Seafloor depth:           -658.296374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 103.215505 meters
#   Minimum depth: 659.260289 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.643936 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 609.260289 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842495;
longitude = -118.688937;
duration = 412;
initialDepth = 622.880496;
finalDepth = 609.260289;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.1419980000001
#   Actual altitude:          71.1419980000001
#   Commanded vehicle depth:  609.260289 
#   Seafloor depth:           -672.176715
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.69;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.596652 meters
#   Minimum depth: 672.880496 meters looking forward 200.000000 meters along route
#   Maximum depth: 696.238342 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 622.880496 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841768;
longitude = -118.689633;
duration = 406;
initialDepth = 637.390262;
finalDepth = 622.880496;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.864224
#   Actual altitude:          63.864224
#   Commanded vehicle depth:  622.880496 
#   Seafloor depth:           -686.744720
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.406609 meters
#   Minimum depth: 687.390262 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.772202 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 637.390262 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841053;
longitude = -118.690319;
duration = 409;
initialDepth = 647.151783;
finalDepth = 637.390262;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.864224
#   Actual altitude:          63.864224
#   Commanded vehicle depth:  637.390262 
#   Seafloor depth:           -696.660224
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.32;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.406964 meters
#   Minimum depth: 697.151783 meters looking forward 200.000000 meters along route
#   Maximum depth: 713.091175 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 647.151783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840332;
longitude = -118.691010;
duration = 409;
initialDepth = 653.153464;
finalDepth = 647.151783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.269962
#   Actual altitude:          59.269962
#   Commanded vehicle depth:  647.151783 
#   Seafloor depth:           -702.883162
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.407316 meters
#   Minimum depth: 703.153464 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.366697 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 653.153464 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839610;
longitude = -118.691701;
duration = 409;
initialDepth = 663.959898;
finalDepth = 653.153464;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.153642
#   Actual altitude:          60.153642
#   Commanded vehicle depth:  653.153464 
#   Seafloor depth:           -713.307106
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 103.490165 meters
#   Minimum depth: 713.959898 meters looking forward 200.000000 meters along route
#   Maximum depth: 731.011532 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 663.959898 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838889;
longitude = -118.692391;
duration = 413;
initialDepth = 672.968437;
finalDepth = 663.959898;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.153642
#   Actual altitude:          60.153642
#   Commanded vehicle depth:  663.959898 
#   Seafloor depth:           -722.416488
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 101.325531 meters
#   Minimum depth: 722.968437 meters looking forward 200.000000 meters along route
#   Maximum depth: 739.002637 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 672.968437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838160;
longitude = -118.693089;
duration = 405;
initialDepth = 681.434975;
finalDepth = 672.968437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.45659
#   Actual altitude:          58.45659
#   Commanded vehicle depth:  672.968437 
#   Seafloor depth:           -731.089731
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 102.408378 meters
#   Minimum depth: 731.434975 meters looking forward 200.000000 meters along route
#   Maximum depth: 748.605218 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 681.434975 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837446;
longitude = -118.693773;
duration = 409;
initialDepth = 690.784420;
finalDepth = 681.434975;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.130993
#   Actual altitude:          58.130993
#   Commanded vehicle depth:  681.434975 
#   Seafloor depth:           -739.565968
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 15
#   Segment length 104.085845 meters
#   Minimum depth: 740.784420 meters looking forward 200.000000 meters along route
#   Maximum depth: 766.165927 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 690.784420 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836725;
longitude = -118.694464;
duration = 416;
initialDepth = 711.223380;
finalDepth = 690.784420;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.264132
#   Actual altitude:          58.264132
#   Commanded vehicle depth:  690.78442 
#   Seafloor depth:           -749.048552
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 14
#   Segment length 165.322659 meters
#   Minimum depth: 761.223380 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.497828 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 711.223380 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835992;
longitude = -118.695166;
duration = 661;
# abortOnTimeout    = True; 
initialDepth = 698.149210;
finalDepth = 711.223380;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       58.264132
#   Actual altitude:          58.264132
#   Commanded vehicle depth:  711.22338 
#   Seafloor depth:           -766.525879
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 13
#   Segment length 103.351232 meters
#   Minimum depth: 748.149210 meters looking forward 200.000000 meters along route
#   Maximum depth: 767.415176 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 698.149210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835091;
longitude = -118.693743;
duration = 413;
# abortOnTimeout    = True; 
initialDepth = 686.261410;
finalDepth = 698.149210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.1437589999999
#   Actual altitude:          69.1437589999999
#   Commanded vehicle depth:  698.14921 
#   Seafloor depth:           -767.292969
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.769157 meters
#   Minimum depth: 736.261410 meters looking forward 200.000000 meters along route
#   Maximum depth: 765.375935 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 686.261410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835823;
longitude = -118.693053;
duration = 407;
initialDepth = 678.937783;
finalDepth = 686.261410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.1437589999999
#   Actual altitude:          69.1437589999999
#   Commanded vehicle depth:  686.26141 
#   Seafloor depth:           -747.249199
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.939753 meters
#   Minimum depth: 728.937783 meters looking forward 200.000000 meters along route
#   Maximum depth: 746.265673 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 678.937783 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836545;
longitude = -118.692373;
duration = 411;
initialDepth = 671.886683;
finalDepth = 678.937783;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.987789
#   Actual altitude:          60.987789
#   Commanded vehicle depth:  678.937783 
#   Seafloor depth:           -736.062180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.597529 meters
#   Minimum depth: 721.886683 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.525218 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 671.886683 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837274;
longitude = -118.691685;
duration = 402;
initialDepth = 660.519667;
finalDepth = 671.886683;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.124397
#   Actual altitude:          57.124397
#   Commanded vehicle depth:  671.886683 
#   Seafloor depth:           -728.865562
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.768125 meters
#   Minimum depth: 710.519667 meters looking forward 200.000000 meters along route
#   Maximum depth: 728.539213 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 660.519667 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837987;
longitude = -118.691014;
duration = 407;
initialDepth = 657.394288;
finalDepth = 660.519667;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.106062
#   Actual altitude:          61.106062
#   Commanded vehicle depth:  660.519667 
#   Seafloor depth:           -721.625729
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.767779 meters
#   Minimum depth: 707.394288 meters looking forward 200.000000 meters along route
#   Maximum depth: 721.281555 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 657.394288 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838709;
longitude = -118.690334;
duration = 407;
initialDepth = 651.342658;
finalDepth = 657.394288;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.106062
#   Actual altitude:          61.106062
#   Commanded vehicle depth:  657.394288 
#   Seafloor depth:           -710.485058
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.66;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.767436 meters
#   Minimum depth: 701.342658 meters looking forward 200.000000 meters along route
#   Maximum depth: 709.748806 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 651.342658 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839430;
longitude = -118.689654;
duration = 407;
initialDepth = 639.338908;
finalDepth = 651.342658;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.792389
#   Actual altitude:          55.792389
#   Commanded vehicle depth:  651.342658 
#   Seafloor depth:           -707.135047
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 103.455584 meters
#   Minimum depth: 689.338908 meters looking forward 200.000000 meters along route
#   Maximum depth: 706.795122 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 639.338908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840151;
longitude = -118.688974;
duration = 413;
initialDepth = 623.717354;
finalDepth = 639.338908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.884817
#   Actual altitude:          61.884817
#   Commanded vehicle depth:  639.338908 
#   Seafloor depth:           -701.223725
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.078253 meters
#   Minimum depth: 673.717354 meters looking forward 200.000000 meters along route
#   Maximum depth: 700.774849 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 623.717354 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840884;
longitude = -118.688283;
duration = 400;
initialDepth = 605.734006;
finalDepth = 623.717354;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.333032
#   Actual altitude:          65.333032
#   Commanded vehicle depth:  623.717354 
#   Seafloor depth:           -689.050386
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.044932 meters
#   Minimum depth: 655.734006 meters looking forward 200.000000 meters along route
#   Maximum depth: 688.187805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 605.734006 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841594;
longitude = -118.687615;
duration = 408;
initialDepth = 590.523605;
finalDepth = 605.734006;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.490904
#   Actual altitude:          67.490904
#   Commanded vehicle depth:  605.734006 
#   Seafloor depth:           -673.224910
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.487527 meters
#   Minimum depth: 640.523605 meters looking forward 200.000000 meters along route
#   Maximum depth: 672.372304 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 590.523605 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842317;
longitude = -118.686933;
duration = 405;
initialDepth = 581.390410;
finalDepth = 590.523605;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.490904
#   Actual altitude:          67.490904
#   Commanded vehicle depth:  590.523605 
#   Seafloor depth:           -655.692533
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.49;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.765712 meters
#   Minimum depth: 631.390410 meters looking forward 200.000000 meters along route
#   Maximum depth: 654.845758 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 581.390410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843036;
longitude = -118.686256;
duration = 407;
initialDepth = 581.390410;
finalDepth = 581.390410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.1689280000001
#   Actual altitude:          65.1689280000001
#   Commanded vehicle depth:  581.39041 
#   Seafloor depth:           -640.020414
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.765369 meters
#   Minimum depth: 631.390410 meters looking forward 200.000000 meters along route
#   Maximum depth: 639.535426 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 581.390410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843758;
longitude = -118.685576;
duration = 407;
initialDepth = 580.270811;
finalDepth = 581.390410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.630004
#   Actual altitude:          58.630004
#   Commanded vehicle depth:  581.39041 
#   Seafloor depth:           -632.031686
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.765024 meters
#   Minimum depth: 630.270811 meters looking forward 200.000000 meters along route
#   Maximum depth: 634.922713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 580.270811 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844479;
longitude = -118.684896;
duration = 407;
initialDepth = 575.819740;
finalDepth = 580.270811;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.798449
#   Actual altitude:          53.798449
#   Commanded vehicle depth:  580.270811 
#   Seafloor depth:           -634.069260
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 102.560768 meters
#   Minimum depth: 625.819740 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.767486 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 575.819740 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845200;
longitude = -118.684216;
duration = 410;
initialDepth = 571.490993;
finalDepth = 575.819740;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.351865
#   Actual altitude:          54.351865
#   Commanded vehicle depth:  575.81974 
#   Seafloor depth:           -630.171605
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.968246 meters
#   Minimum depth: 621.490993 meters looking forward 200.000000 meters along route
#   Maximum depth: 629.923715 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 571.490993 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845927;
longitude = -118.683531;
duration = 403;
initialDepth = 567.078598;
finalDepth = 571.490993;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.351865
#   Actual altitude:          54.351865
#   Commanded vehicle depth:  571.490993 
#   Seafloor depth:           -625.788074
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.61;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.763991 meters
#   Minimum depth: 617.078598 meters looking forward 200.000000 meters along route
#   Maximum depth: 625.553898 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 567.078598 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846643;
longitude = -118.682857;
duration = 407;
initialDepth = 563.050651;
finalDepth = 567.078598;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.297081
#   Actual altitude:          54.297081
#   Commanded vehicle depth:  567.078598 
#   Seafloor depth:           -621.322985
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 101.763646 meters
#   Minimum depth: 613.050651 meters looking forward 200.000000 meters along route
#   Maximum depth: 621.145205 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 563.050651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847364;
longitude = -118.682177;
duration = 407;
initialDepth = 558.759934;
finalDepth = 563.050651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.244387
#   Actual altitude:          54.244387
#   Commanded vehicle depth:  563.050651 
#   Seafloor depth:           -617.048300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 13
#   Segment length 100.555875 meters
#   Minimum depth: 608.759934 meters looking forward 200.000000 meters along route
#   Maximum depth: 616.745726 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 558.759934 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848085;
longitude = -118.681498;
duration = 402;
initialDepth = 558.759934;
finalDepth = 558.759934;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.0404649999999
#   Actual altitude:          54.0404649999999
#   Commanded vehicle depth:  558.759934 
#   Seafloor depth:           -612.800399
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 12
#   Segment length 150.043873 meters
#   Minimum depth: 608.759934 meters looking forward 200.000000 meters along route
#   Maximum depth: 612.779759 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 558.759934 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848798;
longitude = -118.680826;
duration = 600;
# abortOnTimeout    = True; 
initialDepth = 560.529378;
finalDepth = 558.759934;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       54.0404649999999
#   Actual altitude:          54.0404649999999
#   Commanded vehicle depth:  558.759934 
#   Seafloor depth:           -608.799515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 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 110.567701 meters
#   Minimum depth: 610.529378 meters looking forward 200.000000 meters along route
#   Maximum depth: 617.553807 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 560.529378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847958;
longitude = -118.679555;
duration = 442;
# abortOnTimeout    = True; 
initialDepth = 563.341547;
finalDepth = 560.529378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.241267
#   Actual altitude:          52.241267
#   Commanded vehicle depth:  560.529378 
#   Seafloor depth:           -612.770645
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.34;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.080476 meters
#   Minimum depth: 613.341547 meters looking forward 200.000000 meters along route
#   Maximum depth: 622.434483 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 563.341547 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847173;
longitude = -118.680291;
duration = 400;
initialDepth = 567.954617;
finalDepth = 563.341547;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.3047750000001
#   Actual altitude:          54.3047750000001
#   Commanded vehicle depth:  563.341547 
#   Seafloor depth:           -617.646322
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.58;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.604589 meters
#   Minimum depth: 617.954617 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.436281 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 567.954617 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846462;
longitude = -118.680958;
duration = 410;
initialDepth = 572.801247;
finalDepth = 567.954617;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.600743
#   Actual altitude:          54.600743
#   Commanded vehicle depth:  567.954617 
#   Seafloor depth:           -622.555360
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.76;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 100.574050 meters
#   Minimum depth: 622.801247 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.466510 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 572.801247 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845734;
longitude = -118.681641;
duration = 402;
initialDepth = 577.805163;
finalDepth = 572.801247;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.684897
#   Actual altitude:          54.684897
#   Commanded vehicle depth:  572.801247 
#   Seafloor depth:           -627.486144
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.112377 meters
#   Minimum depth: 627.805163 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.396310 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 577.805163 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845020;
longitude = -118.682311;
duration = 408;
initialDepth = 584.023608;
finalDepth = 577.805163;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.894118
#   Actual altitude:          55.894118
#   Commanded vehicle depth:  577.805163 
#   Seafloor depth:           -633.699281
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.067630 meters
#   Minimum depth: 634.023608 meters looking forward 200.000000 meters along route
#   Maximum depth: 646.726468 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 584.023608 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844295;
longitude = -118.682991;
duration = 404;
initialDepth = 590.808709;
finalDepth = 584.023608;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.407068
#   Actual altitude:          56.407068
#   Commanded vehicle depth:  584.023608 
#   Seafloor depth:           -640.430676
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.620158 meters
#   Minimum depth: 640.808709 meters looking forward 200.000000 meters along route
#   Maximum depth: 651.101801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 590.808709 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843577;
longitude = -118.683665;
duration = 406;
initialDepth = 591.729987;
finalDepth = 590.808709;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.407068
#   Actual altitude:          56.407068
#   Commanded vehicle depth:  590.808709 
#   Seafloor depth:           -646.969739
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.561216 meters
#   Minimum depth: 641.729987 meters looking forward 200.000000 meters along route
#   Maximum depth: 651.101801 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 591.729987 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842856;
longitude = -118.684341;
duration = 406;
initialDepth = 591.699278;
finalDepth = 591.729987;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.980777
#   Actual altitude:          58.980777
#   Commanded vehicle depth:  591.729987 
#   Seafloor depth:           -650.710764
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.591200 meters
#   Minimum depth: 641.699278 meters looking forward 200.000000 meters along route
#   Maximum depth: 653.753134 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 591.699278 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842135;
longitude = -118.685018;
duration = 406;
initialDepth = 591.775884;
finalDepth = 591.699278;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.980777
#   Actual altitude:          58.980777
#   Commanded vehicle depth:  591.699278 
#   Seafloor depth:           -641.699278
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.591542 meters
#   Minimum depth: 641.775884 meters looking forward 200.000000 meters along route
#   Maximum depth: 670.087873 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 591.775884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841413;
longitude = -118.685695;
duration = 406;
initialDepth = 604.968748;
finalDepth = 591.775884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.060034
#   Actual altitude:          62.060034
#   Commanded vehicle depth:  591.775884 
#   Seafloor depth:           -653.835918
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.591883 meters
#   Minimum depth: 654.968748 meters looking forward 200.000000 meters along route
#   Maximum depth: 688.614911 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 604.968748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840692;
longitude = -118.686371;
duration = 406;
initialDepth = 621.376595;
finalDepth = 604.968748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.897149
#   Actual altitude:          65.897149
#   Commanded vehicle depth:  604.968748 
#   Seafloor depth:           -670.865897
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.592226 meters
#   Minimum depth: 671.376595 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.496239 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 621.376595 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839971;
longitude = -118.687048;
duration = 406;
initialDepth = 640.004905;
finalDepth = 621.376595;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.4252570000001
#   Actual altitude:          67.4252570000001
#   Commanded vehicle depth:  621.376595 
#   Seafloor depth:           -688.801852
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.592568 meters
#   Minimum depth: 690.004905 meters looking forward 200.000000 meters along route
#   Maximum depth: 708.407791 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 640.004905 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839250;
longitude = -118.687724;
duration = 406;
initialDepth = 653.261437;
finalDepth = 640.004905;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.4252570000001
#   Actual altitude:          67.4252570000001
#   Commanded vehicle depth:  640.004905 
#   Seafloor depth:           -702.883410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.592909 meters
#   Minimum depth: 703.261437 meters looking forward 200.000000 meters along route
#   Maximum depth: 712.691057 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 653.261437 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838528;
longitude = -118.688401;
duration = 406;
initialDepth = 658.929146;
finalDepth = 653.261437;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.878505
#   Actual altitude:          62.878505
#   Commanded vehicle depth:  653.261437 
#   Seafloor depth:           -708.508632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.73;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.593252 meters
#   Minimum depth: 708.929146 meters looking forward 200.000000 meters along route
#   Maximum depth: 721.105453 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 658.929146 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837807;
longitude = -118.689078;
duration = 406;
initialDepth = 663.204817;
finalDepth = 658.929146;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.247195
#   Actual altitude:          55.247195
#   Commanded vehicle depth:  658.929146 
#   Seafloor depth:           -712.906732
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.15;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.593593 meters
#   Minimum depth: 713.204817 meters looking forward 200.000000 meters along route
#   Maximum depth: 727.656221 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 663.204817 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837086;
longitude = -118.689754;
duration = 406;
initialDepth = 671.548410;
finalDepth = 663.204817;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0112789999999
#   Actual altitude:          58.0112789999999
#   Commanded vehicle depth:  663.204817 
#   Seafloor depth:           -721.216096
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.593935 meters
#   Minimum depth: 721.548410 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.376342 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 671.548410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836364;
longitude = -118.690431;
duration = 406;
initialDepth = 678.641324;
finalDepth = 671.548410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.0112789999999
#   Actual altitude:          58.0112789999999
#   Commanded vehicle depth:  671.54841 
#   Seafloor depth:           -728.214638
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 102.966754 meters
#   Minimum depth: 728.641324 meters looking forward 200.000000 meters along route
#   Maximum depth: 749.985790 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 678.641324 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835643;
longitude = -118.691108;
duration = 411;
initialDepth = 686.132976;
finalDepth = 678.641324;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.9538689999999
#   Actual altitude:          56.9538689999999
#   Commanded vehicle depth:  678.641324 
#   Seafloor depth:           -735.595193
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 11
#   Segment length 101.575532 meters
#   Minimum depth: 736.132976 meters looking forward 200.000000 meters along route
#   Maximum depth: 769.889600 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 686.132976 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.834912;
longitude = -118.691793;
duration = 406;
initialDepth = 713.350057;
finalDepth = 686.132976;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       64.1291630000001
#   Actual altitude:          64.1291630000001
#   Commanded vehicle depth:  686.132976 
#   Seafloor depth:           -750.262139
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.48;
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 10
#   Segment length 165.516649 meters
#   Minimum depth: 763.871452 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.095616 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 713.350057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.834191;
longitude = -118.692470;
duration = 662;
# abortOnTimeout    = True; 
initialDepth = 704.056475;
finalDepth = 713.350057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       64.1291630000001
#   Actual altitude:          64.1291630000001
#   Commanded vehicle depth:  713.350057283975 
#   Seafloor depth:           -770.433594
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.48;
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 9
#   Segment length 120.448066 meters
#   Minimum depth: 754.056475 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.352051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 704.056475 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.833250;
longitude = -118.691082;
duration = 481;
# abortOnTimeout    = True; 
initialDepth = 686.754407;
finalDepth = 704.056475;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.295576
#   Actual altitude:          71.295576
#   Commanded vehicle depth:  704.056475 
#   Seafloor depth:           -775.352051
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.966716 meters
#   Minimum depth: 736.754407 meters looking forward 200.000000 meters along route
#   Maximum depth: 771.516648 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 686.754407 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.834110;
longitude = -118.690288;
duration = 403;
initialDepth = 678.198807;
finalDepth = 686.754407;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       71.295576
#   Actual altitude:          71.295576
#   Commanded vehicle depth:  686.754407 
#   Seafloor depth:           -752.862883
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.966384 meters
#   Minimum depth: 728.198807 meters looking forward 200.000000 meters along route
#   Maximum depth: 751.588517 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 678.198807 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.834832;
longitude = -118.689622;
duration = 403;
initialDepth = 670.484113;
finalDepth = 678.198807;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.108476
#   Actual altitude:          66.108476
#   Commanded vehicle depth:  678.198807 
#   Seafloor depth:           -736.549807
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.966050 meters
#   Minimum depth: 720.484113 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.811517 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 670.484113 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835553;
longitude = -118.688957;
duration = 403;
initialDepth = 662.861851;
finalDepth = 670.484113;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.351
#   Actual altitude:          58.351
#   Commanded vehicle depth:  670.484113 
#   Seafloor depth:           -727.913810
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.965718 meters
#   Minimum depth: 712.861851 meters looking forward 200.000000 meters along route
#   Maximum depth: 727.667451 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 662.861851 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836274;
longitude = -118.688291;
duration = 403;
initialDepth = 658.765946;
finalDepth = 662.861851;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.429697
#   Actual altitude:          57.429697
#   Commanded vehicle depth:  662.861851 
#   Seafloor depth:           -720.051588
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.965386 meters
#   Minimum depth: 708.765946 meters looking forward 200.000000 meters along route
#   Maximum depth: 719.584150 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 658.765946 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836996;
longitude = -118.687626;
duration = 403;
initialDepth = 652.025738;
finalDepth = 658.765946;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.189737
#   Actual altitude:          57.189737
#   Commanded vehicle depth:  658.765946 
#   Seafloor depth:           -712.782301
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.965052 meters
#   Minimum depth: 702.025738 meters looking forward 200.000000 meters along route
#   Maximum depth: 712.457136 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 652.025738 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837717;
longitude = -118.686960;
duration = 403;
initialDepth = 637.241044;
finalDepth = 652.025738;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.565519
#   Actual altitude:          56.565519
#   Commanded vehicle depth:  652.025738 
#   Seafloor depth:           -708.591257
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.94;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.964720 meters
#   Minimum depth: 687.241044 meters looking forward 200.000000 meters along route
#   Maximum depth: 708.373307 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 637.241044 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838438;
longitude = -118.686295;
duration = 403;
initialDepth = 619.823125;
finalDepth = 637.241044;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.194897
#   Actual altitude:          64.194897
#   Commanded vehicle depth:  637.241044 
#   Seafloor depth:           -701.435941
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.964387 meters
#   Minimum depth: 669.823125 meters looking forward 200.000000 meters along route
#   Maximum depth: 700.711160 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 619.823125 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839159;
longitude = -118.685629;
duration = 403;
initialDepth = 603.444281;
finalDepth = 619.823125;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.188667
#   Actual altitude:          67.188667
#   Commanded vehicle depth:  619.823125 
#   Seafloor depth:           -687.011792
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.964055 meters
#   Minimum depth: 653.444281 meters looking forward 200.000000 meters along route
#   Maximum depth: 685.887137 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 603.444281 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839881;
longitude = -118.684963;
duration = 403;
initialDepth = 601.376955;
finalDepth = 603.444281;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       67.188667
#   Actual altitude:          67.188667
#   Commanded vehicle depth:  603.444281 
#   Seafloor depth:           -669.114433
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.31;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.963721 meters
#   Minimum depth: 651.376955 meters looking forward 200.000000 meters along route
#   Maximum depth: 668.343022 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 601.376955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840602;
longitude = -118.684298;
duration = 403;
initialDepth = 601.376955;
finalDepth = 601.376955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.6701519999999
#   Actual altitude:          65.6701519999999
#   Commanded vehicle depth:  601.376955 
#   Seafloor depth:           -652.746264
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.963389 meters
#   Minimum depth: 651.376955 meters looking forward 200.000000 meters along route
#   Maximum depth: 675.948033 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 601.376955 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841323;
longitude = -118.683632;
duration = 403;
initialDepth = 610.353518;
finalDepth = 601.376955;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.974599
#   Actual altitude:          57.974599
#   Commanded vehicle depth:  601.376955 
#   Seafloor depth:           -659.351554
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.963057 meters
#   Minimum depth: 660.353518 meters looking forward 200.000000 meters along route
#   Maximum depth: 675.948033 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.353518 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842045;
longitude = -118.682967;
duration = 403;
initialDepth = 599.364180;
finalDepth = 610.353518;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.483336
#   Actual altitude:          65.483336
#   Commanded vehicle depth:  610.353518 
#   Seafloor depth:           -675.836854
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.962723 meters
#   Minimum depth: 649.364180 meters looking forward 200.000000 meters along route
#   Maximum depth: 675.575225 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 599.364180 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842766;
longitude = -118.682301;
duration = 403;
initialDepth = 590.315291;
finalDepth = 599.364180;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.483336
#   Actual altitude:          65.483336
#   Commanded vehicle depth:  599.36418 
#   Seafloor depth:           -661.069346
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.29;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.962391 meters
#   Minimum depth: 640.315291 meters looking forward 200.000000 meters along route
#   Maximum depth: 660.186278 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 590.315291 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843487;
longitude = -118.681635;
duration = 403;
initialDepth = 583.664733;
finalDepth = 590.315291;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.705166
#   Actual altitude:          61.705166
#   Commanded vehicle depth:  590.315291 
#   Seafloor depth:           -649.261056
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.962059 meters
#   Minimum depth: 633.664733 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.547955 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 583.664733 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844208;
longitude = -118.680970;
duration = 403;
initialDepth = 577.568895;
finalDepth = 583.664733;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.9457650000001
#   Actual altitude:          58.9457650000001
#   Commanded vehicle depth:  583.664733 
#   Seafloor depth:           -640.020993
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.961725 meters
#   Minimum depth: 627.568895 meters looking forward 200.000000 meters along route
#   Maximum depth: 639.669999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 577.568895 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844930;
longitude = -118.680304;
duration = 403;
initialDepth = 572.007825;
finalDepth = 577.568895;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.35626
#   Actual altitude:          56.35626
#   Commanded vehicle depth:  577.568895 
#   Seafloor depth:           -633.212924
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.81;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 100.961393 meters
#   Minimum depth: 622.007825 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.082030 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 572.007825 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845651;
longitude = -118.679639;
duration = 403;
initialDepth = 566.546314;
finalDepth = 572.007825;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.644029
#   Actual altitude:          55.644029
#   Commanded vehicle depth:  572.007825 
#   Seafloor depth:           -627.525282
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.39;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 9
#   Segment length 104.528363 meters
#   Minimum depth: 616.546314 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.163352 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 566.546314 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846372;
longitude = -118.678973;
duration = 418;
initialDepth = 566.483582;
finalDepth = 566.546314;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.5174569999999
#   Actual altitude:          55.5174569999999
#   Commanded vehicle depth:  566.546314 
#   Seafloor depth:           -621.817504
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.31;
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 8
#   Segment length 149.976690 meters
#   Minimum depth: 616.483582 meters looking forward 200.000000 meters along route
#   Maximum depth: 620.970097 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 566.483582 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847119;
longitude = -118.678284;
duration = 599;
# abortOnTimeout    = True; 
initialDepth = 569.191550;
finalDepth = 566.483582;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       55.2711899999999
#   Actual altitude:          55.2711899999999
#   Commanded vehicle depth:  566.483582 
#   Seafloor depth:           -616.483582
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 7
#   Segment length 131.997611 meters
#   Minimum depth: 619.191550 meters looking forward 200.000000 meters along route
#   Maximum depth: 627.156104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 569.191550 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846280;
longitude = -118.677013;
duration = 527;
# abortOnTimeout    = True; 
initialDepth = 573.209057;
finalDepth = 569.191550;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.932809
#   Actual altitude:          51.932809
#   Commanded vehicle depth:  569.19155 
#   Seafloor depth:           -621.124359
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.790690 meters
#   Minimum depth: 623.209057 meters looking forward 200.000000 meters along route
#   Maximum depth: 634.482553 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 573.209057 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845335;
longitude = -118.677881;
duration = 403;
initialDepth = 576.912080;
finalDepth = 573.209057;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.418105
#   Actual altitude:          53.418105
#   Commanded vehicle depth:  573.209057 
#   Seafloor depth:           -626.627162
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.05;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.791020 meters
#   Minimum depth: 626.912080 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.662448 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 576.912080 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844614;
longitude = -118.678543;
duration = 403;
initialDepth = 584.705741;
finalDepth = 576.912080;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.6714730000001
#   Actual altitude:          57.6714730000001
#   Commanded vehicle depth:  576.91208 
#   Seafloor depth:           -634.583553
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.791350 meters
#   Minimum depth: 634.705741 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.930417 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 584.705741 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843893;
longitude = -118.679206;
duration = 403;
initialDepth = 591.468773;
finalDepth = 584.705741;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.6714730000001
#   Actual altitude:          57.6714730000001
#   Commanded vehicle depth:  584.705741 
#   Seafloor depth:           -641.036333
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.791680 meters
#   Minimum depth: 641.468773 meters looking forward 200.000000 meters along route
#   Maximum depth: 659.441798 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 591.468773 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843172;
longitude = -118.679868;
duration = 403;
initialDepth = 599.652707;
finalDepth = 591.468773;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.5864439999999
#   Actual altitude:          57.5864439999999
#   Commanded vehicle depth:  591.468773 
#   Seafloor depth:           -649.055217
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.792011 meters
#   Minimum depth: 649.652707 meters looking forward 200.000000 meters along route
#   Maximum depth: 675.109449 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 599.652707 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842450;
longitude = -118.680531;
duration = 403;
initialDepth = 610.491454;
finalDepth = 599.652707;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.240075
#   Actual altitude:          60.240075
#   Commanded vehicle depth:  599.652707 
#   Seafloor depth:           -659.892782
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.017954 meters
#   Minimum depth: 660.491454 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.558789 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.491454 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841729;
longitude = -118.681193;
duration = 404;
initialDepth = 626.669935;
finalDepth = 610.491454;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.7261930000001
#   Actual altitude:          65.7261930000001
#   Commanded vehicle depth:  610.491454 
#   Seafloor depth:           -676.217647
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.567057 meters
#   Minimum depth: 676.669935 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.202582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 626.669935 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841006;
longitude = -118.681857;
duration = 402;
initialDepth = 610.988258;
finalDepth = 626.669935;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.7261930000001
#   Actual altitude:          65.7261930000001
#   Commanded vehicle depth:  626.669935 
#   Seafloor depth:           -686.564998
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.793001 meters
#   Minimum depth: 660.988258 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.202582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.988258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840286;
longitude = -118.682519;
duration = 403;
initialDepth = 610.785852;
finalDepth = 610.988258;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.938846
#   Actual altitude:          65.938846
#   Commanded vehicle depth:  610.988258 
#   Seafloor depth:           -676.927104
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.793331 meters
#   Minimum depth: 660.785852 meters looking forward 200.000000 meters along route
#   Maximum depth: 676.039353 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.785852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839565;
longitude = -118.683181;
duration = 403;
initialDepth = 610.785852;
finalDepth = 610.785852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.938846
#   Actual altitude:          65.938846
#   Commanded vehicle depth:  610.785852 
#   Seafloor depth:           -660.842236
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.793662 meters
#   Minimum depth: 660.785852 meters looking forward 200.000000 meters along route
#   Maximum depth: 693.070839 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 610.785852 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838844;
longitude = -118.683844;
duration = 403;
initialDepth = 627.412201;
finalDepth = 610.785852;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.088626
#   Actual altitude:          66.088626
#   Commanded vehicle depth:  610.785852 
#   Seafloor depth:           -676.874478
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.793991 meters
#   Minimum depth: 677.412201 meters looking forward 200.000000 meters along route
#   Maximum depth: 704.098824 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 627.412201 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838123;
longitude = -118.684506;
duration = 403;
initialDepth = 644.047614;
finalDepth = 627.412201;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.088626
#   Actual altitude:          66.088626
#   Commanded vehicle depth:  627.412201 
#   Seafloor depth:           -693.130659
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.65;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.794322 meters
#   Minimum depth: 694.047614 meters looking forward 200.000000 meters along route
#   Maximum depth: 710.162619 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 644.047614 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837401;
longitude = -118.685169;
duration = 403;
initialDepth = 654.551509;
finalDepth = 644.047614;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.7184580000001
#   Actual altitude:          65.7184580000001
#   Commanded vehicle depth:  644.047614 
#   Seafloor depth:           -704.257840
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.794652 meters
#   Minimum depth: 704.551509 meters looking forward 200.000000 meters along route
#   Maximum depth: 716.127069 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 654.551509 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836680;
longitude = -118.685831;
duration = 403;
initialDepth = 660.587334;
finalDepth = 654.551509;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.210226
#   Actual altitude:          60.210226
#   Commanded vehicle depth:  654.551509 
#   Seafloor depth:           -710.413682
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.13;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.794982 meters
#   Minimum depth: 710.587334 meters looking forward 200.000000 meters along route
#   Maximum depth: 723.522618 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 660.587334 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835959;
longitude = -118.686494;
duration = 403;
initialDepth = 667.009607;
finalDepth = 660.587334;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.9968859999999
#   Actual altitude:          55.9968859999999
#   Commanded vehicle depth:  660.587334 
#   Seafloor depth:           -716.584220
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.795313 meters
#   Minimum depth: 717.009607 meters looking forward 200.000000 meters along route
#   Maximum depth: 731.715384 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 667.009607 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835237;
longitude = -118.687156;
duration = 403;
initialDepth = 673.912004;
finalDepth = 667.009607;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.57505
#   Actual altitude:          56.57505
#   Commanded vehicle depth:  667.009607 
#   Seafloor depth:           -723.584657
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.795642 meters
#   Minimum depth: 723.912004 meters looking forward 200.000000 meters along route
#   Maximum depth: 743.474769 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 673.912004 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.834516;
longitude = -118.687819;
duration = 403;
initialDepth = 682.529844;
finalDepth = 673.912004;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.125417
#   Actual altitude:          58.125417
#   Commanded vehicle depth:  673.912004 
#   Seafloor depth:           -732.037421
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 101.326096 meters
#   Minimum depth: 732.529844 meters looking forward 200.000000 meters along route
#   Maximum depth: 761.635264 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 682.529844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.833795;
longitude = -118.688481;
duration = 405;
initialDepth = 694.658849;
finalDepth = 682.529844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.7381879999999
#   Actual altitude:          61.7381879999999
#   Commanded vehicle depth:  682.529844 
#   Seafloor depth:           -744.268032
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 7
#   Segment length 100.032073 meters
#   Minimum depth: 744.658849 meters looking forward 200.000000 meters along route
#   Maximum depth: 781.280469 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 694.658849 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.833070;
longitude = -118.689147;
duration = 400;
initialDepth = 708.371854;
finalDepth = 694.658849;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       67.0778389999999
#   Actual altitude:          67.0778389999999
#   Commanded vehicle depth:  694.658849 
#   Seafloor depth:           -761.736688
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.25;
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 80.382908 meters
#   Minimum depth: 758.371854 meters looking forward 200.000000 meters along route
#   Maximum depth: 783.315316 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 708.371854 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.832354;
longitude = -118.689805;
duration = 321;
# abortOnTimeout    = True; 
initialDepth = 728.750076;
finalDepth = 708.371854;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.954806
#   Actual altitude:          72.954806
#   Commanded vehicle depth:  708.371854 
#   Seafloor depth:           -781.326660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.77;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 6
#   Segment length 101.051865 meters
#   Minimum depth: 778.750076 meters looking forward 200.000000 meters along route
#   Maximum depth: 785.774736 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 728.750076 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.831938;
longitude = -118.689093;
duration = 404;
initialDepth = 707.298383;
finalDepth = 728.750076;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.954806
#   Actual altitude:          72.954806
#   Commanded vehicle depth:  728.750076 
#   Seafloor depth:           -783.339703
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.77;
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 155.459281 meters
#   Minimum depth: 757.298383 meters looking forward 200.000000 meters along route
#   Maximum depth: 785.774736 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 707.298383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.831416;
longitude = -118.688199;
duration = 621;
# abortOnTimeout    = True; 
initialDepth = 691.940025;
finalDepth = 707.298383;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.3798400000001
#   Actual altitude:          78.3798400000001
#   Commanded vehicle depth:  707.298383 
#   Seafloor depth:           -785.678223
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.416356 meters
#   Minimum depth: 741.940025 meters looking forward 200.000000 meters along route
#   Maximum depth: 775.266455 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 691.940025 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.832533;
longitude = -118.687184;
duration = 401;
initialDepth = 681.321888;
finalDepth = 691.940025;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       78.3798400000001
#   Actual altitude:          78.3798400000001
#   Commanded vehicle depth:  691.940025 
#   Seafloor depth:           -756.749640
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 47.03;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.416031 meters
#   Minimum depth: 731.321888 meters looking forward 200.000000 meters along route
#   Maximum depth: 755.814713 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 681.321888 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.833254;
longitude = -118.686528;
duration = 401;
initialDepth = 672.965216;
finalDepth = 681.321888;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       64.809615
#   Actual altitude:          64.809615
#   Commanded vehicle depth:  681.321888 
#   Seafloor depth:           -741.449071
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.89;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.415706 meters
#   Minimum depth: 722.965216 meters looking forward 200.000000 meters along route
#   Maximum depth: 740.958710 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 672.965216 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.833975;
longitude = -118.685872;
duration = 401;
initialDepth = 664.917187;
finalDepth = 672.965216;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.1271830000001
#   Actual altitude:          60.1271830000001
#   Commanded vehicle depth:  672.965216 
#   Seafloor depth:           -730.950783
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.415382 meters
#   Minimum depth: 714.917187 meters looking forward 200.000000 meters along route
#   Maximum depth: 730.676695 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 664.917187 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.834696;
longitude = -118.685216;
duration = 401;
initialDepth = 656.908331;
finalDepth = 664.917187;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.9855669999999
#   Actual altitude:          57.9855669999999
#   Commanded vehicle depth:  664.917187 
#   Seafloor depth:           -722.438803
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.79;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.415058 meters
#   Minimum depth: 706.908331 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.300571 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 656.908331 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.835418;
longitude = -118.684561;
duration = 401;
initialDepth = 650.932748;
finalDepth = 656.908331;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.584067
#   Actual altitude:          57.584067
#   Commanded vehicle depth:  656.908331 
#   Seafloor depth:           -714.492398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.414732 meters
#   Minimum depth: 700.932748 meters looking forward 200.000000 meters along route
#   Maximum depth: 714.029084 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 650.932748 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836139;
longitude = -118.683905;
duration = 401;
initialDepth = 635.320478;
finalDepth = 650.932748;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.584067
#   Actual altitude:          57.584067
#   Commanded vehicle depth:  650.932748 
#   Seafloor depth:           -706.854394
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.414409 meters
#   Minimum depth: 685.320478 meters looking forward 200.000000 meters along route
#   Maximum depth: 706.382582 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 635.320478 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.836860;
longitude = -118.683249;
duration = 401;
initialDepth = 622.427143;
finalDepth = 635.320478;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.445202
#   Actual altitude:          65.445202
#   Commanded vehicle depth:  635.320478 
#   Seafloor depth:           -700.765680
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 100.414083 meters
#   Minimum depth: 672.427143 meters looking forward 200.000000 meters along route
#   Maximum depth: 700.201105 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 622.427143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.837582;
longitude = -118.682593;
duration = 401;
initialDepth = 622.427143;
finalDepth = 622.427143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.445202
#   Actual altitude:          65.445202
#   Commanded vehicle depth:  622.427143 
#   Seafloor depth:           -684.703632
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 103.212320 meters
#   Minimum depth: 672.427143 meters looking forward 200.000000 meters along route
#   Maximum depth: 689.759729 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 622.427143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.838303;
longitude = -118.681938;
duration = 412;
initialDepth = 623.566367;
finalDepth = 622.427143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.276489
#   Actual altitude:          62.276489
#   Commanded vehicle depth:  622.427143 
#   Seafloor depth:           -672.642199
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.37;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 5
#   Segment length 103.119476 meters
#   Minimum depth: 673.566367 meters looking forward 200.000000 meters along route
#   Maximum depth: 698.460107 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 623.566367 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839044;
longitude = -118.681263;
duration = 412;
initialDepth = 637.338821;
finalDepth = 623.566367;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       66.982499
#   Actual altitude:          66.982499
#   Commanded vehicle depth:  623.566367 
#   Seafloor depth:           -690.548866
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
# 
# Waypoint_depth behavior to get to end of line 4
#   Segment length 173.585684 meters
#   Minimum depth: 687.338821 meters looking forward 200.000000 meters along route
#   Maximum depth: 697.667956 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 637.338821 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.839785;
longitude = -118.680590;
duration = 694;
# abortOnTimeout    = True; 
initialDepth = 630.588865;
finalDepth = 637.338821;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       66.982499
#   Actual altitude:          66.982499
#   Commanded vehicle depth:  637.338821 
#   Seafloor depth:           -696.459503
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 40.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.003071 meters
#   Minimum depth: 680.588865 meters looking forward 200.000000 meters along route
#   Maximum depth: 691.662408 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 630.588865 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.840782;
longitude = -118.682036;
duration = 408;
initialDepth = 609.602210;
finalDepth = 630.588865;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.120682
#   Actual altitude:          59.120682
#   Commanded vehicle depth:  630.588865 
#   Seafloor depth:           -687.229350
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.47;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.568162 meters
#   Minimum depth: 659.602210 meters looking forward 200.000000 meters along route
#   Maximum depth: 686.854932 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 609.602210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841368;
longitude = -118.682885;
duration = 414;
initialDepth = 596.863869;
finalDepth = 609.602210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.956681
#   Actual altitude:          70.956681
#   Commanded vehicle depth:  609.60221 
#   Seafloor depth:           -680.558891
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.436842 meters
#   Minimum depth: 646.863869 meters looking forward 200.000000 meters along route
#   Maximum depth: 679.508528 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 596.863869 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.841963;
longitude = -118.683747;
duration = 401;
initialDepth = 586.591926;
finalDepth = 596.863869;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       70.956681
#   Actual altitude:          70.956681
#   Commanded vehicle depth:  596.863869 
#   Seafloor depth:           -659.482283
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 42.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.001933 meters
#   Minimum depth: 636.591926 meters looking forward 200.000000 meters along route
#   Maximum depth: 658.792071 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 586.591926 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.842540;
longitude = -118.684584;
duration = 408;
initialDepth = 579.931995;
finalDepth = 586.591926;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.618414
#   Actual altitude:          62.618414
#   Commanded vehicle depth:  586.591926 
#   Seafloor depth:           -646.477600
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.328593 meters
#   Minimum depth: 629.931995 meters looking forward 200.000000 meters along route
#   Maximum depth: 645.396669 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 579.931995 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843126;
longitude = -118.685433;
duration = 409;
initialDepth = 576.206768;
finalDepth = 579.931995;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.8856740000001
#   Actual altitude:          59.8856740000001
#   Commanded vehicle depth:  579.931995 
#   Seafloor depth:           -636.520983
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.93;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.674136 meters
#   Minimum depth: 626.206768 meters looking forward 200.000000 meters along route
#   Maximum depth: 636.252973 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 576.206768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.843714;
longitude = -118.686285;
duration = 406;
initialDepth = 576.206768;
finalDepth = 576.206768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.588988
#   Actual altitude:          56.588988
#   Commanded vehicle depth:  576.206768 
#   Seafloor depth:           -629.900680
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.000795 meters
#   Minimum depth: 626.206768 meters looking forward 200.000000 meters along route
#   Maximum depth: 629.788429 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 576.206768 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844299;
longitude = -118.687132;
duration = 408;
initialDepth = 577.544620;
finalDepth = 576.206768;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.693912
#   Actual altitude:          53.693912
#   Commanded vehicle depth:  576.206768 
#   Seafloor depth:           -627.052867
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.000417 meters
#   Minimum depth: 627.544620 meters looking forward 200.000000 meters along route
#   Maximum depth: 637.914969 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 577.544620 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.844885;
longitude = -118.687982;
duration = 408;
initialDepth = 580.615511;
finalDepth = 577.544620;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.435563
#   Actual altitude:          52.435563
#   Commanded vehicle depth:  577.54462 
#   Seafloor depth:           -629.980183
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.46;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.837304 meters
#   Minimum depth: 630.615511 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.577213 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 580.615511 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.845471;
longitude = -118.688831;
duration = 411;
initialDepth = 586.415405;
finalDepth = 580.615511;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.3669130000001
#   Actual altitude:          57.3669130000001
#   Commanded vehicle depth:  580.615511 
#   Seafloor depth:           -637.982424
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.162391 meters
#   Minimum depth: 636.415405 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.577213 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 586.415405 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846061;
longitude = -118.689687;
duration = 404;
initialDepth = 583.291400;
finalDepth = 586.415405;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.3669130000001
#   Actual altitude:          57.3669130000001
#   Commanded vehicle depth:  586.415405 
#   Seafloor depth:           -640.475816
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.999279 meters
#   Minimum depth: 633.291400 meters looking forward 200.000000 meters along route
#   Maximum depth: 640.495436 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 583.291400 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.846643;
longitude = -118.690530;
duration = 407;
initialDepth = 581.405015;
finalDepth = 583.291400;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.060411
#   Actual altitude:          54.060411
#   Commanded vehicle depth:  583.2914 
#   Seafloor depth:           -636.215452
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.44;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.998899 meters
#   Minimum depth: 631.405015 meters looking forward 200.000000 meters along route
#   Maximum depth: 635.805386 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 581.405015 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847229;
longitude = -118.691379;
duration = 407;
initialDepth = 580.720700;
finalDepth = 581.405015;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.9240520000001
#   Actual altitude:          52.9240520000001
#   Commanded vehicle depth:  581.405015 
#   Seafloor depth:           -633.242631
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.346001 meters
#   Minimum depth: 630.720700 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.021057 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 580.720700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.847815;
longitude = -118.692229;
duration = 413;
initialDepth = 580.720700;
finalDepth = 580.720700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.8376159999999
#   Actual altitude:          51.8376159999999
#   Commanded vehicle depth:  580.7207 
#   Seafloor depth:           -631.404598
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.10;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.650661 meters
#   Minimum depth: 630.720700 meters looking forward 200.000000 meters along route
#   Maximum depth: 673.426800 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 580.720700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848409;
longitude = -118.693089;
duration = 402;
initialDepth = 580.780319;
finalDepth = 580.720700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       50.683898
#   Actual altitude:          50.683898
#   Commanded vehicle depth:  580.7207 
#   Seafloor depth:           -630.729919
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.41;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.997762 meters
#   Minimum depth: 630.780319 meters looking forward 200.000000 meters along route
#   Maximum depth: 732.511697 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 580.780319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.848987;
longitude = -118.693928;
duration = 407;
initialDepth = 608.110536;
finalDepth = 580.780319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       95.448119
#   Actual altitude:          95.448119
#   Commanded vehicle depth:  580.780319 
#   Seafloor depth:           -676.228438
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 57.27;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.106485 meters
#   Minimum depth: 681.707851 meters looking forward 200.000000 meters along route
#   Maximum depth: 758.693616 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 608.110536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.849573;
longitude = -118.694777;
duration = 408;
initialDepth = 635.469886;
finalDepth = 608.110536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       124.902242530525
#   Actual altitude:          100
#   Commanded vehicle depth:  608.110536469475 
#   Seafloor depth:           -733.012779
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.745580 meters
#   Minimum depth: 736.300921 meters looking forward 200.000000 meters along route
#   Maximum depth: 759.423928 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 635.469886 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850160;
longitude = -118.695627;
duration = 414;
initialDepth = 663.268430;
finalDepth = 635.469886;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       124.902242530525
#   Actual altitude:          100
#   Commanded vehicle depth:  635.469886178478 
#   Seafloor depth:           -758.700268
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 100.138946 meters
#   Minimum depth: 749.897651 meters looking forward 200.000000 meters along route
#   Maximum depth: 759.423928 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 663.268430 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.850756;
longitude = -118.696491;
duration = 400;
initialDepth = 654.918274;
finalDepth = 663.268430;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       123.230381821522
#   Actual altitude:          100
#   Commanded vehicle depth:  663.268430061204 
#   Seafloor depth:           -753.776589
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.996246 meters
#   Minimum depth: 704.918274 meters looking forward 200.000000 meters along route
#   Maximum depth: 753.443400 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 654.918274 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851331;
longitude = -118.697325;
duration = 407;
initialDepth = 640.787908;
finalDepth = 654.918274;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.729045
#   Actual altitude:          94.729045
#   Commanded vehicle depth:  654.918274 
#   Seafloor depth:           -749.647319
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 102.615180 meters
#   Minimum depth: 690.787908 meters looking forward 200.000000 meters along route
#   Maximum depth: 748.815824 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 640.787908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.851917;
longitude = -118.698175;
duration = 410;
initialDepth = 635.981527;
finalDepth = 640.787908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       94.729045
#   Actual altitude:          94.729045
#   Commanded vehicle depth:  640.787908 
#   Seafloor depth:           -704.512507
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 56.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.376174 meters
#   Minimum depth: 685.981527 meters looking forward 200.000000 meters along route
#   Maximum depth: 702.966596 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 635.981527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852507;
longitude = -118.699030;
duration = 405;
initialDepth = 635.981527;
finalDepth = 635.981527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.724599
#   Actual altitude:          63.724599
#   Commanded vehicle depth:  635.981527 
#   Seafloor depth:           -690.705430
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.23;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.995108 meters
#   Minimum depth: 685.981527 meters looking forward 200.000000 meters along route
#   Maximum depth: 694.386954 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 635.981527 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853089;
longitude = -118.699874;
duration = 407;
initialDepth = 638.818908;
finalDepth = 635.981527;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.723903
#   Actual altitude:          54.723903
#   Commanded vehicle depth:  635.981527 
#   Seafloor depth:           -688.088469
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 101.994729 meters
#   Minimum depth: 688.818908 meters looking forward 200.000000 meters along route
#   Maximum depth: 696.636922 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 638.818908 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853675;
longitude = -118.700723;
duration = 407;
initialDepth = 636.452179;
finalDepth = 638.818908;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.7077340000001
#   Actual altitude:          55.7077340000001
#   Commanded vehicle depth:  638.818908 
#   Seafloor depth:           -694.526642
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.42;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 103.123859 meters
#   Minimum depth: 686.452179 meters looking forward 200.000000 meters along route
#   Maximum depth: 696.636922 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 636.452179 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854261;
longitude = -118.701573;
duration = 412;
initialDepth = 613.717868;
finalDepth = 636.452179;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.140778
#   Actual altitude:          60.140778
#   Commanded vehicle depth:  636.452179 
#   Seafloor depth:           -696.592957
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.08;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 4
#   Segment length 106.201972 meters
#   Minimum depth: 663.717868 meters looking forward 200.000000 meters along route
#   Maximum depth: 696.417673 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 613.717868 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854854;
longitude = -118.702432;
duration = 424;
initialDepth = 613.343979;
finalDepth = 613.717868;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.5313990000001
#   Actual altitude:          72.5313990000001
#   Commanded vehicle depth:  613.717868 
#   Seafloor depth:           -686.249267
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 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 82.241526 meters
#   Minimum depth: 663.343979 meters looking forward 200.000000 meters along route
#   Maximum depth: 687.791111 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 613.343979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855464;
longitude = -118.703316;
duration = 328;
# abortOnTimeout    = True; 
initialDepth = 613.343979;
finalDepth = 613.343979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       72.5313990000001
#   Actual altitude:          72.5313990000001
#   Commanded vehicle depth:  613.343979 
#   Seafloor depth:           -663.343979
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.52;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 103.006390 meters
#   Minimum depth: 663.343979 meters looking forward 200.000000 meters along route
#   Maximum depth: 679.896025 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 613.343979 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856039;
longitude = -118.702756;
duration = 412;
initialDepth = 619.313410;
finalDepth = 613.343979;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.263376
#   Actual altitude:          55.263376
#   Commanded vehicle depth:  613.343979 
#   Seafloor depth:           -668.607355
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.16;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 103.006026 meters
#   Minimum depth: 669.313410 meters looking forward 200.000000 meters along route
#   Maximum depth: 681.523298 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 619.313410 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856760;
longitude = -118.702054;
duration = 412;
initialDepth = 614.206781;
finalDepth = 619.313410;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.792083
#   Actual altitude:          60.792083
#   Commanded vehicle depth:  619.31341 
#   Seafloor depth:           -680.105493
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.48;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 103.005664 meters
#   Minimum depth: 664.206781 meters looking forward 200.000000 meters along route
#   Maximum depth: 681.523298 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 614.206781 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857481;
longitude = -118.701352;
duration = 412;
initialDepth = 603.292544;
finalDepth = 614.206781;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.851671
#   Actual altitude:          62.851671
#   Commanded vehicle depth:  614.206781 
#   Seafloor depth:           -677.058452
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.407685 meters
#   Minimum depth: 653.292544 meters looking forward 200.000000 meters along route
#   Maximum depth: 676.543154 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 603.292544 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858202;
longitude = -118.700650;
duration = 401;
initialDepth = 590.044270;
finalDepth = 603.292544;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.851671
#   Actual altitude:          62.851671
#   Commanded vehicle depth:  603.292544 
#   Seafloor depth:           -663.943604
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.71;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 3
#   Segment length 100.247641 meters
#   Minimum depth: 640.044270 meters looking forward 200.000000 meters along route
#   Maximum depth: 663.550299 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 590.044270 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858904;
longitude = -118.699965;
duration = 400;
initialDepth = 584.514552;
finalDepth = 590.044270;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       62.586245
#   Actual altitude:          62.586245
#   Commanded vehicle depth:  590.04427 
#   Seafloor depth:           -652.630515
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.55;
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 124.519066 meters
#   Minimum depth: 634.514552 meters looking forward 200.000000 meters along route
#   Maximum depth: 649.697079 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 584.514552 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.859606;
longitude = -118.699282;
duration = 498;
# abortOnTimeout    = True; 
initialDepth = 583.051791;
finalDepth = 584.514552;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.586245
#   Actual altitude:          62.586245
#   Commanded vehicle depth:  584.514552 
#   Seafloor depth:           -639.610855
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.55;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.256883 meters
#   Minimum depth: 633.051791 meters looking forward 200.000000 meters along route
#   Maximum depth: 638.490366 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 583.051791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858917;
longitude = -118.698220;
duration = 405;
initialDepth = 583.051791;
finalDepth = 583.051791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.096303
#   Actual altitude:          55.096303
#   Commanded vehicle depth:  583.051791 
#   Seafloor depth:           -634.301760
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.257261 meters
#   Minimum depth: 633.051791 meters looking forward 200.000000 meters along route
#   Maximum depth: 637.935296 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 583.051791 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858357;
longitude = -118.697355;
duration = 405;
initialDepth = 583.326916;
finalDepth = 583.051791;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.249969
#   Actual altitude:          51.249969
#   Commanded vehicle depth:  583.051791 
#   Seafloor depth:           -633.311877
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 30.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.257639 meters
#   Minimum depth: 633.326916 meters looking forward 200.000000 meters along route
#   Maximum depth: 648.367609 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 583.326916 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857796;
longitude = -118.696491;
duration = 405;
initialDepth = 588.655429;
finalDepth = 583.326916;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.0098350000001
#   Actual altitude:          55.0098350000001
#   Commanded vehicle depth:  583.326916 
#   Seafloor depth:           -638.336751
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.01;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.258016 meters
#   Minimum depth: 638.655429 meters looking forward 200.000000 meters along route
#   Maximum depth: 715.099903 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 588.655429 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857236;
longitude = -118.695627;
duration = 405;
initialDepth = 597.509278;
finalDepth = 588.655429;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.717352
#   Actual altitude:          59.717352
#   Commanded vehicle depth:  588.655429 
#   Seafloor depth:           -648.372781
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.83;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 102.326619 meters
#   Minimum depth: 647.509278 meters looking forward 200.000000 meters along route
#   Maximum depth: 733.935275 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 597.509278 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856676;
longitude = -118.694763;
duration = 409;
initialDepth = 624.927612;
finalDepth = 597.509278;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       118.793067
#   Actual altitude:          100
#   Commanded vehicle depth:  597.509278 
#   Seafloor depth:           -716.302345
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 100.190548 meters
#   Minimum depth: 717.912586 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.224995 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 624.927612 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856110;
longitude = -118.693890;
duration = 400;
initialDepth = 651.773588;
finalDepth = 624.927612;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       118.793067
#   Actual altitude:          100
#   Commanded vehicle depth:  624.927612435476 
#   Seafloor depth:           -733.959157
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.259150 meters
#   Minimum depth: 732.996085 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.287134 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 651.773588 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855555;
longitude = -118.693035;
duration = 405;
initialDepth = 673.909210;
finalDepth = 651.773588;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       109.031544564524
#   Actual altitude:          100
#   Commanded vehicle depth:  651.773588381751 
#   Seafloor depth:           -735.253374
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.259528 meters
#   Minimum depth: 723.909210 meters looking forward 200.000000 meters along route
#   Maximum depth: 735.287134 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 673.909210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854995;
longitude = -118.692171;
duration = 405;
initialDepth = 654.450903;
finalDepth = 673.909210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       83.479785618249
#   Actual altitude:          83.479785618249
#   Commanded vehicle depth:  673.90921 
#   Seafloor depth:           -732.813300
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 50.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.259906 meters
#   Minimum depth: 704.450903 meters looking forward 200.000000 meters along route
#   Maximum depth: 732.516776 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 654.450903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854435;
longitude = -118.691307;
duration = 405;
initialDepth = 543.533293;
finalDepth = 654.450903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       69.286659
#   Actual altitude:          69.286659
#   Commanded vehicle depth:  654.450903 
#   Seafloor depth:           -723.737562
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 41.57;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.260284 meters
#   Minimum depth: 593.533293 meters looking forward 200.000000 meters along route
#   Maximum depth: 722.579522 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 543.533293 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853874;
longitude = -118.690443;
duration = 405;
initialDepth = 543.521356;
finalDepth = 543.533293;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       159.391998
#   Actual altitude:          100
#   Commanded vehicle depth:  543.533293 
#   Seafloor depth:           -702.925291
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.260661 meters
#   Minimum depth: 593.521356 meters looking forward 200.000000 meters along route
#   Maximum depth: 701.860051 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 543.521356 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853314;
longitude = -118.689579;
duration = 405;
initialDepth = 545.380555;
finalDepth = 543.521356;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       159.391998
#   Actual altitude:          100
#   Commanded vehicle depth:  543.521356 
#   Seafloor depth:           -593.521356
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 60.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 2
#   Segment length 101.316414 meters
#   Minimum depth: 595.380555 meters looking forward 200.000000 meters along route
#   Maximum depth: 633.017544 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 545.380555 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852754;
longitude = -118.688715;
duration = 405;
initialDepth = 541.871676;
finalDepth = 545.380555;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       52.8339970000001
#   Actual altitude:          52.8339970000001
#   Commanded vehicle depth:  545.380555 
#   Seafloor depth:           -598.214552
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.70;
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 1
#   Segment length 174.322311 meters
#   Minimum depth: 591.871676 meters looking forward 200.000000 meters along route
#   Maximum depth: 595.473240 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 541.871676 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852193;
longitude = -118.687851;
duration = 697;
# abortOnTimeout    = True; 
initialDepth = 540.201877;
finalDepth = 541.871676;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.446989
#   Actual altitude:          53.446989
#   Commanded vehicle depth:  541.871676 
#   Seafloor depth:           -595.318665
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
#######################################################
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.662871 meters
#   Minimum depth: 590.201877 meters looking forward 200.000000 meters along route
#   Maximum depth: 593.976376 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 540.201877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852704;
longitude = -118.686069;
duration = 402;
initialDepth = 538.375232;
finalDepth = 540.201877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.446989
#   Actual altitude:          53.446989
#   Commanded vehicle depth:  540.201877 
#   Seafloor depth:           -591.810566
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.07;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.123862 meters
#   Minimum depth: 588.375232 meters looking forward 200.000000 meters along route
#   Maximum depth: 591.747334 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 538.375232 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.852999;
longitude = -118.685041;
duration = 400;
initialDepth = 536.324651;
finalDepth = 538.375232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.814843
#   Actual altitude:          51.814843
#   Commanded vehicle depth:  538.375232 
#   Seafloor depth:           -590.190075
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.09;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.392851 meters
#   Minimum depth: 586.324651 meters looking forward 200.000000 meters along route
#   Maximum depth: 589.977772 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 536.324651 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853292;
longitude = -118.684017;
duration = 401;
initialDepth = 534.368258;
finalDepth = 536.324651;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.86959
#   Actual altitude:          51.86959
#   Commanded vehicle depth:  536.324651 
#   Seafloor depth:           -588.194241
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.392506 meters
#   Minimum depth: 584.368258 meters looking forward 200.000000 meters along route
#   Maximum depth: 588.041816 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 534.368258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853587;
longitude = -118.682991;
duration = 401;
initialDepth = 532.460316;
finalDepth = 534.368258;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.948922
#   Actual altitude:          51.948922
#   Commanded vehicle depth:  534.368258 
#   Seafloor depth:           -586.317180
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.392162 meters
#   Minimum depth: 582.460316 meters looking forward 200.000000 meters along route
#   Maximum depth: 586.192732 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 532.460316 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.853881;
longitude = -118.681965;
duration = 401;
initialDepth = 530.674884;
finalDepth = 532.460316;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.948922
#   Actual altitude:          51.948922
#   Commanded vehicle depth:  532.460316 
#   Seafloor depth:           -584.320158
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.17;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.391817 meters
#   Minimum depth: 580.674884 meters looking forward 200.000000 meters along route
#   Maximum depth: 584.072019 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 530.674884 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854175;
longitude = -118.680939;
duration = 401;
initialDepth = 528.768168;
finalDepth = 530.674884;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.892287
#   Actual altitude:          51.892287
#   Commanded vehicle depth:  530.674884 
#   Seafloor depth:           -582.567171
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.391474 meters
#   Minimum depth: 578.768168 meters looking forward 200.000000 meters along route
#   Maximum depth: 582.375104 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 528.768168 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854470;
longitude = -118.679913;
duration = 401;
initialDepth = 526.968130;
finalDepth = 528.768168;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.892287
#   Actual altitude:          51.892287
#   Commanded vehicle depth:  528.768168 
#   Seafloor depth:           -580.556082
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.391129 meters
#   Minimum depth: 576.968130 meters looking forward 200.000000 meters along route
#   Maximum depth: 580.438584 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 526.968130 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.854764;
longitude = -118.678887;
duration = 401;
initialDepth = 525.085325;
finalDepth = 526.968130;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.98248
#   Actual altitude:          51.98248
#   Commanded vehicle depth:  526.96813 
#   Seafloor depth:           -578.950610
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.390786 meters
#   Minimum depth: 575.085325 meters looking forward 200.000000 meters along route
#   Maximum depth: 579.509165 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 525.085325 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855058;
longitude = -118.677861;
duration = 401;
initialDepth = 523.609734;
finalDepth = 525.085325;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.98248
#   Actual altitude:          51.98248
#   Commanded vehicle depth:  525.085325 
#   Seafloor depth:           -576.938982
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.19;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.390441 meters
#   Minimum depth: 573.609734 meters looking forward 200.000000 meters along route
#   Maximum depth: 577.452467 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 523.609734 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855352;
longitude = -118.676835;
duration = 401;
initialDepth = 521.865840;
finalDepth = 523.609734;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9062719999999
#   Actual altitude:          51.9062719999999
#   Commanded vehicle depth:  523.609734 
#   Seafloor depth:           -575.516006
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.390098 meters
#   Minimum depth: 571.865840 meters looking forward 200.000000 meters along route
#   Maximum depth: 576.703941 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 521.865840 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855647;
longitude = -118.675809;
duration = 401;
initialDepth = 519.829232;
finalDepth = 521.865840;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       51.9062719999999
#   Actual altitude:          51.9062719999999
#   Commanded vehicle depth:  521.86584 
#   Seafloor depth:           -573.480929
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.14;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.389753 meters
#   Minimum depth: 569.829232 meters looking forward 200.000000 meters along route
#   Maximum depth: 573.850089 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 519.829232 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.855941;
longitude = -118.674783;
duration = 401;
initialDepth = 516.956471;
finalDepth = 519.829232;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.2588569999999
#   Actual altitude:          52.2588569999999
#   Commanded vehicle depth:  519.829232 
#   Seafloor depth:           -572.088089
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.36;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.389409 meters
#   Minimum depth: 566.956471 meters looking forward 200.000000 meters along route
#   Maximum depth: 572.476871 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 516.956471 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856235;
longitude = -118.673757;
duration = 401;
initialDepth = 514.261624;
finalDepth = 516.956471;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.709637
#   Actual altitude:          52.709637
#   Commanded vehicle depth:  516.956471 
#   Seafloor depth:           -569.666108
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.389066 meters
#   Minimum depth: 564.261624 meters looking forward 200.000000 meters along route
#   Maximum depth: 569.661959 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 514.261624 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856529;
longitude = -118.672731;
duration = 401;
initialDepth = 511.965036;
finalDepth = 514.261624;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.709637
#   Actual altitude:          52.709637
#   Commanded vehicle depth:  514.261624 
#   Seafloor depth:           -566.926128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.63;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.388721 meters
#   Minimum depth: 561.965036 meters looking forward 200.000000 meters along route
#   Maximum depth: 566.717874 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 511.965036 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.856824;
longitude = -118.671705;
duration = 401;
initialDepth = 509.022166;
finalDepth = 511.965036;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.664504
#   Actual altitude:          52.664504
#   Commanded vehicle depth:  511.965036 
#   Seafloor depth:           -564.273548
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.60;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.388378 meters
#   Minimum depth: 559.022166 meters looking forward 200.000000 meters along route
#   Maximum depth: 564.063068 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 509.022166 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857118;
longitude = -118.670679;
duration = 401;
initialDepth = 505.967236;
finalDepth = 509.022166;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       52.920157
#   Actual altitude:          52.920157
#   Commanded vehicle depth:  509.022166 
#   Seafloor depth:           -561.942323
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.75;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.388034 meters
#   Minimum depth: 555.967236 meters looking forward 200.000000 meters along route
#   Maximum depth: 561.706372 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 505.967236 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857412;
longitude = -118.669653;
duration = 401;
initialDepth = 502.047495;
finalDepth = 505.967236;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.397339
#   Actual altitude:          53.397339
#   Commanded vehicle depth:  505.967236 
#   Seafloor depth:           -559.364575
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.04;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.387689 meters
#   Minimum depth: 552.047495 meters looking forward 200.000000 meters along route
#   Maximum depth: 559.105916 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 502.047495 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.857706;
longitude = -118.668627;
duration = 401;
initialDepth = 498.633672;
finalDepth = 502.047495;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.05297
#   Actual altitude:          54.05297
#   Commanded vehicle depth:  502.047495 
#   Seafloor depth:           -556.100465
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.387346 meters
#   Minimum depth: 548.633672 meters looking forward 200.000000 meters along route
#   Maximum depth: 555.888876 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 498.633672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858001;
longitude = -118.667601;
duration = 401;
initialDepth = 494.724151;
finalDepth = 498.633672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.05297
#   Actual altitude:          54.05297
#   Commanded vehicle depth:  498.633672 
#   Seafloor depth:           -552.336089
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.43;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.387002 meters
#   Minimum depth: 544.724151 meters looking forward 200.000000 meters along route
#   Maximum depth: 552.131764 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 494.724151 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858295;
longitude = -118.666575;
duration = 401;
initialDepth = 491.769744;
finalDepth = 494.724151;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.702417
#   Actual altitude:          53.702417
#   Commanded vehicle depth:  494.724151 
#   Seafloor depth:           -547.749079
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.22;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.386659 meters
#   Minimum depth: 541.769744 meters looking forward 200.000000 meters along route
#   Maximum depth: 548.025300 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 491.769744 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858589;
longitude = -118.665549;
duration = 401;
initialDepth = 486.248672;
finalDepth = 491.769744;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       53.1274840000001
#   Actual altitude:          53.1274840000001
#   Commanded vehicle depth:  491.769744 
#   Seafloor depth:           -544.897228
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 31.88;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.386314 meters
#   Minimum depth: 536.248672 meters looking forward 200.000000 meters along route
#   Maximum depth: 544.694164 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 486.248672 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.858883;
longitude = -118.664523;
duration = 401;
initialDepth = 481.210934;
finalDepth = 486.248672;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.29458
#   Actual altitude:          55.29458
#   Commanded vehicle depth:  486.248672 
#   Seafloor depth:           -541.543252
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.385971 meters
#   Minimum depth: 531.210934 meters looking forward 200.000000 meters along route
#   Maximum depth: 541.302238 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 481.210934 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.859178;
longitude = -118.663497;
duration = 401;
initialDepth = 476.049619;
finalDepth = 481.210934;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.29458
#   Actual altitude:          55.29458
#   Commanded vehicle depth:  481.210934 
#   Seafloor depth:           -536.197253
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.18;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.385627 meters
#   Minimum depth: 526.049619 meters looking forward 200.000000 meters along route
#   Maximum depth: 535.911403 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 476.049619 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.859472;
longitude = -118.662471;
duration = 401;
initialDepth = 469.823692;
finalDepth = 476.049619;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.9863190000001
#   Actual altitude:          54.9863190000001
#   Commanded vehicle depth:  476.049619 
#   Seafloor depth:           -530.947215
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.99;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.385283 meters
#   Minimum depth: 519.823692 meters looking forward 200.000000 meters along route
#   Maximum depth: 530.703410 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 469.823692 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.859766;
longitude = -118.661445;
duration = 401;
initialDepth = 462.735319;
finalDepth = 469.823692;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.1229679999999
#   Actual altitude:          56.1229679999999
#   Commanded vehicle depth:  469.823692 
#   Seafloor depth:           -525.946660
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.384939 meters
#   Minimum depth: 512.735319 meters looking forward 200.000000 meters along route
#   Maximum depth: 525.629930 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 462.735319 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.860061;
longitude = -118.660419;
duration = 401;
initialDepth = 455.301424;
finalDepth = 462.735319;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       56.763136
#   Actual altitude:          56.763136
#   Commanded vehicle depth:  462.735319 
#   Seafloor depth:           -519.498455
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.384596 meters
#   Minimum depth: 505.301424 meters looking forward 200.000000 meters along route
#   Maximum depth: 519.168701 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 455.301424 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.860355;
longitude = -118.659393;
duration = 401;
initialDepth = 447.409200;
finalDepth = 455.301424;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.243018
#   Actual altitude:          57.243018
#   Commanded vehicle depth:  455.301424 
#   Seafloor depth:           -512.544442
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.384252 meters
#   Minimum depth: 497.409200 meters looking forward 200.000000 meters along route
#   Maximum depth: 512.157509 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 447.409200 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.860649;
longitude = -118.658367;
duration = 401;
initialDepth = 439.720210;
finalDepth = 447.409200;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.493715
#   Actual altitude:          57.493715
#   Commanded vehicle depth:  447.4092 
#   Seafloor depth:           -504.902915
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.383909 meters
#   Minimum depth: 489.720210 meters looking forward 200.000000 meters along route
#   Maximum depth: 504.548999 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 439.720210 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.860943;
longitude = -118.657341;
duration = 401;
initialDepth = 430.553516;
finalDepth = 439.720210;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.493715
#   Actual altitude:          57.493715
#   Commanded vehicle depth:  439.72021 
#   Seafloor depth:           -497.128006
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.50;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.383565 meters
#   Minimum depth: 480.553516 meters looking forward 200.000000 meters along route
#   Maximum depth: 496.718101 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 430.553516 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.861238;
longitude = -118.656315;
duration = 401;
initialDepth = 421.480028;
finalDepth = 430.553516;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.792722
#   Actual altitude:          58.792722
#   Commanded vehicle depth:  430.553516 
#   Seafloor depth:           -489.346238
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.383221 meters
#   Minimum depth: 471.480028 meters looking forward 200.000000 meters along route
#   Maximum depth: 489.074359 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 421.480028 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.861532;
longitude = -118.655289;
duration = 401;
initialDepth = 412.508642;
finalDepth = 421.480028;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.792722
#   Actual altitude:          58.792722
#   Commanded vehicle depth:  421.480028 
#   Seafloor depth:           -480.169732
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.382877 meters
#   Minimum depth: 462.508642 meters looking forward 200.000000 meters along route
#   Maximum depth: 479.709777 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 412.508642 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.861826;
longitude = -118.654263;
duration = 401;
initialDepth = 402.336447;
finalDepth = 412.508642;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       58.689704
#   Actual altitude:          58.689704
#   Commanded vehicle depth:  412.508642 
#   Seafloor depth:           -470.978866
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.21;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.382534 meters
#   Minimum depth: 452.336447 meters looking forward 200.000000 meters along route
#   Maximum depth: 470.700599 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 402.336447 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.862120;
longitude = -118.653237;
duration = 401;
initialDepth = 392.082520;
finalDepth = 402.336447;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.708035
#   Actual altitude:          59.708035
#   Commanded vehicle depth:  402.336447 
#   Seafloor depth:           -462.044482
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.382191 meters
#   Minimum depth: 442.082520 meters looking forward 200.000000 meters along route
#   Maximum depth: 461.525181 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 392.082520 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.862415;
longitude = -118.652211;
duration = 401;
initialDepth = 381.915143;
finalDepth = 392.082520;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.708035
#   Actual altitude:          59.708035
#   Commanded vehicle depth:  392.08252 
#   Seafloor depth:           -451.782875
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.381847 meters
#   Minimum depth: 431.915143 meters looking forward 200.000000 meters along route
#   Maximum depth: 451.563005 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 381.915143 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.862709;
longitude = -118.651185;
duration = 401;
initialDepth = 370.427536;
finalDepth = 381.915143;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.700355
#   Actual altitude:          59.700355
#   Commanded vehicle depth:  381.915143 
#   Seafloor depth:           -441.490538
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.82;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.381503 meters
#   Minimum depth: 420.427536 meters looking forward 200.000000 meters along route
#   Maximum depth: 440.929760 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 370.427536 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.863003;
longitude = -118.650159;
duration = 401;
initialDepth = 358.876376;
finalDepth = 370.427536;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.9782080000001
#   Actual altitude:          60.9782080000001
#   Commanded vehicle depth:  370.427536 
#   Seafloor depth:           -431.405744
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.381160 meters
#   Minimum depth: 408.876376 meters looking forward 200.000000 meters along route
#   Maximum depth: 431.285194 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 358.876376 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.863297;
longitude = -118.649133;
duration = 401;
initialDepth = 347.661243;
finalDepth = 358.876376;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.991201
#   Actual altitude:          60.991201
#   Commanded vehicle depth:  358.876376 
#   Seafloor depth:           -419.867577
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.380817 meters
#   Minimum depth: 397.661243 meters looking forward 200.000000 meters along route
#   Maximum depth: 419.319629 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 347.661243 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.863592;
longitude = -118.648107;
duration = 401;
initialDepth = 335.043877;
finalDepth = 347.661243;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.991201
#   Actual altitude:          60.991201
#   Commanded vehicle depth:  347.661243 
#   Seafloor depth:           -408.330368
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.59;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.380473 meters
#   Minimum depth: 385.043877 meters looking forward 200.000000 meters along route
#   Maximum depth: 407.799768 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 335.043877 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.863886;
longitude = -118.647081;
duration = 401;
initialDepth = 323.341844;
finalDepth = 335.043877;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0696
#   Actual altitude:          62.0696
#   Commanded vehicle depth:  335.043877 
#   Seafloor depth:           -397.113477
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.380130 meters
#   Minimum depth: 373.341844 meters looking forward 200.000000 meters along route
#   Maximum depth: 396.550487 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 323.341844 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.864180;
longitude = -118.646055;
duration = 401;
initialDepth = 309.813258;
finalDepth = 323.341844;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.0696
#   Actual altitude:          62.0696
#   Commanded vehicle depth:  323.341844 
#   Seafloor depth:           -384.986398
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.24;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.379786 meters
#   Minimum depth: 359.813258 meters looking forward 200.000000 meters along route
#   Maximum depth: 384.328752 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 309.813258 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.864474;
longitude = -118.645029;
duration = 401;
initialDepth = 297.755378;
finalDepth = 309.813258;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.837611
#   Actual altitude:          62.837611
#   Commanded vehicle depth:  309.813258 
#   Seafloor depth:           -372.650869
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.379443 meters
#   Minimum depth: 347.755378 meters looking forward 200.000000 meters along route
#   Maximum depth: 371.953616 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 297.755378 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.864769;
longitude = -118.644003;
duration = 401;
initialDepth = 283.048381;
finalDepth = 297.755378;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       62.837611
#   Actual altitude:          62.837611
#   Commanded vehicle depth:  297.755378 
#   Seafloor depth:           -359.675410
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.70;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.379099 meters
#   Minimum depth: 333.048381 meters looking forward 200.000000 meters along route
#   Maximum depth: 359.159759 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 283.048381 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.865063;
longitude = -118.642977;
duration = 401;
initialDepth = 269.902388;
finalDepth = 283.048381;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.993915
#   Actual altitude:          63.993915
#   Commanded vehicle depth:  283.048381 
#   Seafloor depth:           -347.042296
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.378757 meters
#   Minimum depth: 319.902388 meters looking forward 200.000000 meters along route
#   Maximum depth: 346.223811 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 269.902388 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.865357;
longitude = -118.641951;
duration = 401;
initialDepth = 256.263923;
finalDepth = 269.902388;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.993915
#   Actual altitude:          63.993915
#   Commanded vehicle depth:  269.902388 
#   Seafloor depth:           -332.762914
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.40;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.378412 meters
#   Minimum depth: 306.263923 meters looking forward 200.000000 meters along route
#   Maximum depth: 332.049781 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 256.263923 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.865652;
longitude = -118.640925;
duration = 401;
initialDepth = 240.569074;
finalDepth = 256.263923;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.005578
#   Actual altitude:          63.005578
#   Commanded vehicle depth:  256.263923 
#   Seafloor depth:           -319.269501
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.80;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.378070 meters
#   Minimum depth: 290.569074 meters looking forward 200.000000 meters along route
#   Maximum depth: 318.656062 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 240.569074 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.865946;
longitude = -118.639899;
duration = 401;
initialDepth = 226.696903;
finalDepth = 240.569074;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.20433
#   Actual altitude:          65.20433
#   Commanded vehicle depth:  240.569074 
#   Seafloor depth:           -305.773404
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.377726 meters
#   Minimum depth: 276.696903 meters looking forward 200.000000 meters along route
#   Maximum depth: 304.910805 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 226.696903 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.866240;
longitude = -118.638873;
duration = 401;
initialDepth = 217.007831;
finalDepth = 226.696903;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       65.20433
#   Actual altitude:          65.20433
#   Commanded vehicle depth:  226.696903 
#   Seafloor depth:           -289.757055
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 39.12;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.377383 meters
#   Minimum depth: 267.007831 meters looking forward 200.000000 meters along route
#   Maximum depth: 289.112117 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 217.007831 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.866534;
longitude = -118.637847;
duration = 401;
initialDepth = 208.708198;
finalDepth = 217.007831;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.060152
#   Actual altitude:          63.060152
#   Commanded vehicle depth:  217.007831 
#   Seafloor depth:           -276.249128
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.84;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.377040 meters
#   Minimum depth: 258.708198 meters looking forward 200.000000 meters along route
#   Maximum depth: 275.630402 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 208.708198 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.866829;
longitude = -118.636821;
duration = 401;
initialDepth = 196.503716;
finalDepth = 208.708198;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.241297
#   Actual altitude:          59.241297
#   Commanded vehicle depth:  208.708198 
#   Seafloor depth:           -266.553663
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.54;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.376697 meters
#   Minimum depth: 246.503716 meters looking forward 200.000000 meters along route
#   Maximum depth: 266.262529 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 196.503716 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.867123;
longitude = -118.635795;
duration = 401;
initialDepth = 187.967948;
finalDepth = 196.503716;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.695177
#   Actual altitude:          61.695177
#   Commanded vehicle depth:  196.503716 
#   Seafloor depth:           -258.198893
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.376353 meters
#   Minimum depth: 237.967948 meters looking forward 200.000000 meters along route
#   Maximum depth: 257.536898 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 187.967948 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.867417;
longitude = -118.634769;
duration = 401;
initialDepth = 177.808838;
finalDepth = 187.967948;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       61.695177
#   Actual altitude:          61.695177
#   Commanded vehicle depth:  187.967948 
#   Seafloor depth:           -246.036750
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 37.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.376010 meters
#   Minimum depth: 227.808838 meters looking forward 200.000000 meters along route
#   Maximum depth: 245.828650 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 177.808838 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.867711;
longitude = -118.633743;
duration = 401;
initialDepth = 169.110655;
finalDepth = 177.808838;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.630667
#   Actual altitude:          59.630667
#   Commanded vehicle depth:  177.808838 
#   Seafloor depth:           -237.439505
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.375667 meters
#   Minimum depth: 219.110655 meters looking forward 200.000000 meters along route
#   Maximum depth: 236.929066 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 169.110655 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.868006;
longitude = -118.632717;
duration = 401;
initialDepth = 158.101524;
finalDepth = 169.110655;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.630667
#   Actual altitude:          59.630667
#   Commanded vehicle depth:  169.110655 
#   Seafloor depth:           -227.324042
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.78;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.375324 meters
#   Minimum depth: 208.101524 meters looking forward 200.000000 meters along route
#   Maximum depth: 227.140123 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 158.101524 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.868300;
longitude = -118.631691;
duration = 401;
initialDepth = 150.212208;
finalDepth = 158.101524;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.47359
#   Actual altitude:          60.47359
#   Commanded vehicle depth:  158.101524 
#   Seafloor depth:           -218.575114
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.374981 meters
#   Minimum depth: 200.212208 meters looking forward 200.000000 meters along route
#   Maximum depth: 217.990373 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 150.212208 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.868594;
longitude = -118.630665;
duration = 401;
initialDepth = 141.992700;
finalDepth = 150.212208;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       60.47359
#   Actual altitude:          60.47359
#   Commanded vehicle depth:  150.212208 
#   Seafloor depth:           -207.617481
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 36.28;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.392494 meters
#   Minimum depth: 191.992700 meters looking forward 200.000000 meters along route
#   Maximum depth: 207.539821 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 141.992700 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.868888;
longitude = -118.629639;
duration = 401;
initialDepth = 135.693574;
finalDepth = 141.992700;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.784642
#   Actual altitude:          57.784642
#   Commanded vehicle depth:  141.9927 
#   Seafloor depth:           -199.777342
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.356438 meters
#   Minimum depth: 185.693574 meters looking forward 200.000000 meters along route
#   Maximum depth: 199.344181 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 135.693574 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.869183;
longitude = -118.628613;
duration = 401;
initialDepth = 127.633087;
finalDepth = 135.693574;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.784642
#   Actual altitude:          57.784642
#   Commanded vehicle depth:  135.693574 
#   Seafloor depth:           -191.991290
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.67;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.373952 meters
#   Minimum depth: 177.633087 meters looking forward 200.000000 meters along route
#   Maximum depth: 191.559377 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 127.633087 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.869477;
longitude = -118.627587;
duration = 401;
initialDepth = 122.553412;
finalDepth = 127.633087;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.70742
#   Actual altitude:          57.70742
#   Commanded vehicle depth:  127.633087 
#   Seafloor depth:           -185.340507
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.373608 meters
#   Minimum depth: 172.553412 meters looking forward 200.000000 meters along route
#   Maximum depth: 184.775858 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 122.553412 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.869771;
longitude = -118.626561;
duration = 401;
initialDepth = 117.399765;
finalDepth = 122.553412;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       57.70742
#   Actual altitude:          57.70742
#   Commanded vehicle depth:  122.553412 
#   Seafloor depth:           -177.580272
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 34.62;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.373266 meters
#   Minimum depth: 167.399765 meters looking forward 200.000000 meters along route
#   Maximum depth: 177.306291 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 117.399765 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.870065;
longitude = -118.625535;
duration = 401;
initialDepth = 113.055790;
finalDepth = 117.399765;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.02686
#   Actual altitude:          55.02686
#   Commanded vehicle depth:  117.399765 
#   Seafloor depth:           -172.325995
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.02;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.372922 meters
#   Minimum depth: 163.055790 meters looking forward 200.000000 meters along route
#   Maximum depth: 172.082687 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 113.055790 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.870360;
longitude = -118.624509;
duration = 401;
initialDepth = 109.290147;
finalDepth = 113.055790;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.92623
#   Actual altitude:          54.92623
#   Commanded vehicle depth:  113.05579 
#   Seafloor depth:           -167.321016
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.96;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.372580 meters
#   Minimum depth: 159.290147 meters looking forward 200.000000 meters along route
#   Maximum depth: 167.077643 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 109.290147 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.870654;
longitude = -118.623483;
duration = 401;
initialDepth = 103.851375;
finalDepth = 109.290147;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       54.265226
#   Actual altitude:          54.265226
#   Commanded vehicle depth:  109.290147 
#   Seafloor depth:           -162.871713
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 32.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.372237 meters
#   Minimum depth: 153.851375 meters looking forward 200.000000 meters along route
#   Maximum depth: 162.709940 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 103.851375 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.870948;
longitude = -118.622457;
duration = 401;
initialDepth = 93.549523;
finalDepth = 103.851375;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       55.340247
#   Actual altitude:          55.340247
#   Commanded vehicle depth:  103.851375 
#   Seafloor depth:           -159.191622
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 33.20;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.371893 meters
#   Minimum depth: 143.549523 meters looking forward 200.000000 meters along route
#   Maximum depth: 158.983566 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 93.549523 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.871243;
longitude = -118.621431;
duration = 401;
initialDepth = 79.660535;
finalDepth = 93.549523;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       59.918133
#   Actual altitude:          59.918133
#   Commanded vehicle depth:  93.549523 
#   Seafloor depth:           -153.467656
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 35.95;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.371551 meters
#   Minimum depth: 129.660535 meters looking forward 200.000000 meters along route
#   Maximum depth: 153.105860 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 79.660535 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.871537;
longitude = -118.620405;
duration = 401;
initialDepth = 64.582545;
finalDepth = 79.660535;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.429007
#   Actual altitude:          63.429007
#   Commanded vehicle depth:  79.660535 
#   Seafloor depth:           -143.089542
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.06;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 100.371208 meters
#   Minimum depth: 114.582545 meters looking forward 200.000000 meters along route
#   Maximum depth: 142.352780 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 64.582545 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.871831;
longitude = -118.619379;
duration = 401;
initialDepth = 42.758787;
finalDepth = 64.582545;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            0
#   Commanded altitude:       63.917857
#   Actual altitude:          63.917857
#   Commanded vehicle depth:  64.582545 
#   Seafloor depth:           -128.500402
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 38.35;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# 
# 
# Waypoint_depth behavior during line 1
#   Segment length 103.234365 meters
#   Minimum depth: 92.758787 meters looking forward 200.000000 meters along route
#   Maximum depth: 129.057543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.758787 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint_depth
{
latitude = 33.872125;
longitude = -118.618353;
duration = 412;
initialDepth = 42.567383;
finalDepth = 42.758787;
speed = 1.500000;
}
#######################################################
# Reset sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.598904
#   Actual altitude:          72.598904
#   Commanded vehicle depth:  42.758787 
#   Seafloor depth:           -115.357691
# 
behavior reson
{
duration = 6;
MB_Range = 200.00;
MB_Sound_Velocity = 0.0;
MB_Bottom_Detect_Filter_Min_Range = 43.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
}
# 
#######################################################
# 
# Acoustic update 7 - sent status ping before start of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
#######################################################
#######################################################
# 
#######################################################
# Turn Mapping sonars on and start logging.
# 
behavior reson
{
duration = 6;
Log_Mode = 2;
}
# Set sonar parameters 
#   Waypoint type:            3
#   Commanded altitude:       72.598904
#   Sonar parameter altitude: 72.598904
#   Commanded vehicle depth:  42.567383 
#   Seafloor depth:           -92.567383
# 
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 = 38;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000066;
MB_Bottom_Detect_Filter_Min_Range = 43.56;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
Log_Mode = 0;
}
# 
#######################################################
# 
# Waypoint behavior to get to start of line 1
#   Segment length 0.000000 meters
#   Minimum depth: 92.567383 meters looking forward 200.000000 meters along route
#   Maximum depth: 129.057543 meters looking forward 200.000000 meters along route
#   Maximum vehicle depth: 856.134228 meters
#   Desired vehicle altitude: 50.000000 meters
#   Minimum vehicle altitude: 40.000000 meters
#   Behavior depth of 42.567383 meters set by local depth and desired altitude
#   Vehicle survey speed:     1.500000 m/s
behavior waypoint
{
latitude = 33.872428;
longitude = -118.617298;
duration = 600;
depth = 42.567383;
speed = 1.500000;
}
#######################################################
# Acoustic update 6 - sent status ping after end of line 
# 
behavior acousticUpdate
{
duration = 2;
dummy = 1;
}
# 
# 
#######################################################
#######################################################
# 
# 
# Descend behavior 
behavior descend
{
horizontalMode = heading;
horizontal = 220.0;
pitch = -35.000000;
speed = 1.500000;
maxDepth = 3.000000;
minAltitude = 40.000000;
duration = 300;
}
# 
# setpoint on surface to gather momentum 
behavior setpoint
{
duration = 30;
heading = 220.0;
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 = 38;
MB_Sound_Velocity = 0.0;
MB_Pulse_Width = 0.000066;
MB_Bottom_Detect_Filter_Min_Range = 30.00;
MB_Bottom_Detect_Filter_Max_Range = 200.00;
MB_Bottom_Detect_Filter_Min_Depth = 0.00;
MB_Bottom_Detect_Filter_Max_Depth = 200.00;
MB_Bottom_Detect_Range_Mode = 1;
MB_Bottom_Detect_Depth_Mode = 0;
Snippet_Mode = 1;
Window_Size = 200;
}
# 
#######################################################
#######################################################
#######################################################
#######################################################
